Metrology-Based System for Operating a Flexible Manufacturing System

ABSTRACT

A method and apparatus for positioning an end effector relative to a fuselage assembly. A configuration of the fuselage assembly may be determined. The end effector may be positioned relative to the fuselage assembly based on the configuration determined. A set of actual reference locations may be identified for a set of reference points on the fuselage assembly. The end effector may be positioned at an operation location based on the set of actual reference locations identified.

RELATED PROVISIONAL APPLICATION

This application claims the benefit of U.S. Provisional PatentApplication Ser. No. 62/022,641, filed Jul. 9, 2014, and entitled“Automated Flexible Manufacturing System for Building a Fuselage.”

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is related to the following patent applications:entitled “Autonomous Flexible Manufacturing System for Building aFuselage,” Ser. No. ______, attorney docket no. 14-0918-US-NP; entitled“Mobile Platforms for Performing Operations along an Exterior of aFuselage Assembly,” Ser. No. ______, attorney docket no. 14-0901-US-NP;entitled “Mobile Platforms for Performing Operations inside a FuselageAssembly,” Ser. No. ______, attorney docket no. 14-0902-US-NP; entitled“Wheel Mounting System,” Ser. No. ______, attorney docket no.14-0903-US-NP; entitled “Dual-Interface Coupler,” Ser. No. ______,attorney docket no. 14-0904-US-NP; entitled “Clamping Feet for an EndEffector,” Ser. No. ______, attorney docket no. 14-0906-US-NP; entitled“Towers for Accessing an Interior of a Fuselage Assembly,” Ser. No.______, attorney docket no. 14-0907-US-NP; entitled “Assembly Fixturefor Supporting a Fuselage Assembly,” Ser. No. ______, attorney docketno. 14-0908-US-NP; entitled “Adjustable Retaining Structure for a CradleFixture,” Ser. No. ______, attorney docket no. 14-0909-US-NP; entitled“Utility Fixture for Creating a Distributed Utility Network,” Ser. No.______, attorney docket no. 14-0910-US-NP; and entitled “Two-StageRiveting,” Ser. No. ______, attorney docket no. 14-0917-US-NP, filed ofeven date herewith, each of which claims the benefit of U.S. ProvisionalPatent Application Ser. No. 62/022,641, filed Jul. 9, 2014 and entitled“Automated Flexible Manufacturing System for Building a Fuselage,” eachassigned to the same assignee, and each incorporated herein by referencein its entirety.

BACKGROUND INFORMATION

1. Field

The present disclosure relates generally to aircraft and, in particular,to building the fuselage of an aircraft. Still more particularly, thepresent disclosure relates to a method, apparatus, and system forcoordinating tools at both the interior and exterior of a fuselageassembly to perform assembly operations along the fuselage assembly.

2. Background

Building a fuselage may include assembling skin panels and a supportstructure for the fuselage. The skin panels and support structure may bejoined together to form a fuselage assembly. For example, withoutlimitation, the skin panels may have support members, such as frames andstringers, attached to the surface of the skin panels that will face theinterior of the fuselage assembly. These support members may be used toform the support structure for the fuselage assembly. The skin panelsmay be positioned relative to each other and the support members may betied together to form this support structure.

Fastening operations may then be performed to join the skin panels andthe support members together to form the fuselage assembly. Thesefastening operations may include, for example, riveting operations,interference-fit bolting operations, other types of attachmentoperations, or some combination thereof. The fuselage assembly may needto be assembled in a manner that meets outer mold line (OML)requirements and inner mold line (IML) requirements for the fuselageassembly.

With some currently available methods for building a fuselage assembly,the fastening operations performed to assemble the skin panels and thesupport members together may be performed manually. For example, withoutlimitation, a first human operator positioned at an exterior of thefuselage assembly and a second human operator positioned at an interiorof the fuselage assembly may use handheld tools to perform thesefastening operations. In some cases, this type of manual fasteningprocess may be more labor-intensive, time-consuming, ergonomicallychallenging, or expensive than desired. Further, some current assemblymethods used to build fuselages that involve manual fastening processesmay not allow fuselages to be built in the desired assembly facilitiesor factories at desired assembly rates or desired assembly costs.

In some cases, the current assembly methods and systems used to buildfuselages may require that these fuselages be built in facilities orfactories specifically designated and permanently configured forbuilding fuselages. These current assembly methods and systems may beunable to accommodate different types and shapes of fuselages. Forexample, without limitation, large and heavy equipment needed forbuilding fuselages may be permanently affixed to a factory andconfigured for use solely with fuselages of a specific type.

Further, providing utilities, such as power, air, communications,hydraulic fluid, water, and other types of utilities, to the varioussystems used in some current assembly methods may be more difficult orcumbersome than desired. For example, without limitation, the variouscables and connection devices needed to provide these types of utilitiesto the different tools being used to assemble a fuselage may impede orrestrict the movement of personnel and tools within a manufacturingenvironment.

Additionally, some currently available assembly methods use tools thatare associated with tracks that may be positioned over the surface of afuselage. These tools may be positioned at various locations along thesurface of the fuselage by being moved along these tracks. These typesof tracks may limit the flexibility and freedom of movement of thesetools relative to the fuselage and require more human interaction thandesired. Further, these types of tracks may be unable to be used oncertain areas of a fuselage. Consequently, a greater number of assemblyoperations than desired may need to be performed manually by one or morehuman operators. Therefore, it would be desirable to have a method andapparatus that take into account at least some of the issues discussedabove, as well as other possible issues.

SUMMARY

In one illustrative embodiment, a method for positioning an end effectorrelative to a fuselage assembly may be provided. A configuration of thefuselage assembly may be determined. The end effector may be positionedrelative to the fuselage assembly based on the configuration determined.A set of actual reference locations may be identified for a set ofreference points on the fuselage assembly. The end effector may bepositioned at an operation location based on the set of actual referencelocations identified.

In another illustrative embodiment, a method for positioning an endeffector may be provided. The end effector may be macro-positionedrelative to a fuselage assembly. The end effector may be meso-positionedrelative to the fuselage assembly. A set of actual reference locationsmay be computed for a set of reference points on the fuselage assembly.The end effector may be micro-positioned relative to each of a set ofoperation locations on the fuselage assembly based on the set of actualreference locations computed.

In still another illustrative embodiment, an apparatus may comprise alaser tracking system and a control system. The laser tracking systemmay comprise a set of laser tracking devices, fuselage laser targetsassociated with a fuselage assembly, and platform laser targetsassociated with a mobile platform. The control system may controlpositioning of an end effector relative to the fuselage assembly basedon laser measurement data generated by the set of laser trackingdevices.

The features and functions can be achieved independently in variousembodiments of the present disclosure or may be combined in yet otherembodiments in which further details can be seen with reference to thefollowing description and drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features believed characteristic of the illustrativeembodiments are set forth in the appended claims. The illustrativeembodiments, however, as well as a preferred mode of use, furtherobjectives and features thereof, will best be understood by reference tothe following detailed description of an illustrative embodiment of thepresent disclosure when read in conjunction with the accompanyingdrawings, wherein:

FIG. 1 is an illustration of a manufacturing environment in the form ofa block diagram in accordance with an illustrative embodiment;

FIG. 2 is an illustration of a fuselage assembly in the form of a blockdiagram in accordance with an illustrative embodiment;

FIG. 3 is an illustration of a plurality of mobile systems of a flexiblemanufacturing system within a manufacturing environment in the form of ablock diagram in accordance with an illustrative embodiment;

FIG. 4 is an illustration a plurality of mobile platforms in the form ofa block diagram in accordance with an illustrative embodiment;

FIG. 5 is an illustration of a flow of a number of utilities across adistributed utility network in the form of a block diagram in accordancewith an illustrative embodiment;

FIG. 6 is an illustration of a control system controlling thepositioning of an end effector based on data from a metrology system inthe form of a block diagram in accordance with an illustrativeembodiment;

FIG. 7 is an illustration of macro-positioning, meso-positioning, andmicro-positioning as performed by a control system in the form of ablock diagram in accordance with an illustrative embodiment;

FIG. 8 is an illustration of a first tower coupled to a utility fixturein accordance with an illustrative embodiment;

FIG. 9 is an illustration of an isometric view of a cradle system inaccordance with an illustrative embodiment;

FIG. 10 is an illustration of an isometric view of an assembly fixtureformed using a cradle system and coupled to a first tower in accordancewith an illustrative embodiment;

FIG. 11 is an illustration of an isometric view of one stage in theassembly process for building a fuselage assembly that is beingsupported by an assembly fixture in accordance with an illustrativeembodiment;

FIG. 12 is an illustration of an isometric view of another stage in theassembly process for building a fuselage assembly in accordance with anillustrative embodiment;

FIG. 13 is an illustration of an isometric view of another stage in theassembly process for building a fuselage assembly being supported by anassembly fixture in accordance with an illustrative embodiment;

FIG. 14 is an illustration of an isometric view of another stage in theassembly process for building a fuselage assembly in accordance with anillustrative embodiment;

FIG. 15 is an illustration of an isometric view of a second towercoupled to a utility fixture and an assembly fixture supporting afuselage assembly in accordance with an illustrative embodiment;

FIG. 16 is an illustration of an isometric cutaway view of a pluralityof mobile platforms performing fastening processes within an interior ofa fuselage assembly in accordance with an illustrative embodiment;

FIG. 17 is an illustration of a cross-sectional view of a flexiblemanufacturing system performing operations on a fuselage assembly inaccordance with an illustrative embodiment;

FIG. 18 is an illustration of an isometric view of a fully builtfuselage assembly in accordance with an illustrative embodiment;

FIG. 19 is an illustration of an isometric view of fuselage assembliesbeing built within a manufacturing environment in accordance with anillustrative embodiment;

FIG. 20 is an illustration of an isometric view of fuselage assembliesbeing built within a manufacturing environment in accordance with anillustrative embodiment;

FIG. 21 is an illustration of an isometric view of a laser trackingsystem and a radar system associated with flexible manufacturing systemin accordance with an illustrative embodiment;

FIG. 22 is an illustration of an isometric cutaway view of a fuselageassembly with a laser tracking system associated with an internal mobileplatform in accordance with an illustrative embodiment;

FIG. 23 is an illustration of an isometric view of a laser trackingsystem associated with an external mobile platform in accordance with anillustrative embodiment;

FIG. 24 is an illustration of a portion of an autonomous vehicle inaccordance with an illustrative embodiment;

FIG. 25 is an illustration of a process for positioning an end effectorrelative to a fuselage assembly in the form of a flowchart in accordancewith an illustrative embodiment;

FIG. 26 is an illustration of a process for positioning an end effectorin the form of a flowchart in accordance with an illustrativeembodiment;

FIG. 27 is an illustration of a process for positioning two endeffectors relative to an operation location on a fuselage assembly inthe form of a flowchart in accordance with an illustrative embodiment;

FIG. 28 is an illustration of a process for positioning an end effectorrelative to a fuselage assembly in the form of a flowchart in accordancewith an illustrative embodiment;

FIG. 29 is an illustration of a data processing system in the form of ablock diagram in accordance with an illustrative embodiment;

FIG. 30 is an illustration of an aircraft manufacturing and servicemethod in the form of a block diagram in accordance with an illustrativeembodiment; and

FIG. 31 is an illustration of an aircraft in the form of a block diagramin which an illustrative embodiment may be implemented.

DETAILED DESCRIPTION

The illustrative embodiments recognize and take into account differentconsiderations. For example, the illustrative embodiments recognize andtake into account that it may be desirable to automate the process ofbuilding a fuselage assembly for an aircraft. Automating the process ofbuilding a fuselage assembly for an aircraft may improve buildefficiency, improve build quality, and reduce costs associated withbuilding the fuselage assembly. The illustrative embodiments alsorecognize and take into account that automating the process of buildinga fuselage assembly may improve the accuracy and precision with whichassembly operations are performed, thereby ensuring improved compliancewith outer mold line (OML) requirements and inner mold line (IML)requirements for the fuselage assembly.

Further, the illustrative embodiments recognize and take into accountthat automating the process used to build a fuselage assembly for anaircraft may significantly reduce the amount of time needed for thebuild cycle. For example, without limitation, automating fasteningoperations may reduce and, in some cases, eliminate, the need for humanoperators to perform these fastening operations as well as other typesof assembly operations.

Further, this type of automation of the process for building a fuselageassembly for an aircraft may be less labor-intensive, time-consuming,ergonomically challenging, and expensive than performing this processprimarily manually. Reduced manual labor may have a desired benefit forthe human laborer. Additionally, automating the fuselage assemblyprocess may allow fuselage assemblies to be built in desired assemblyfacilities and factories at desired assembly rates and desired assemblycosts.

The illustrative embodiments also recognize and take into account thatit may be desirable to use equipment that can be autonomously driven andoperated to automate the process of building a fuselage assembly. Inparticular, it may be desirable to have an autonomous flexiblemanufacturing system comprised of mobile systems that may beautonomously driven across a factory floor, autonomously positionedrelative to the factory floor as needed for building the fuselageassembly, autonomously operated to build the fuselage assembly, and thenautonomously driven away when building of the fuselage assembly has beencompleted.

As used herein, performing any operation, action, or step autonomouslymay mean performing that operation substantially without any humaninput. For example, without limitation, a platform that may beautonomously driven is a platform that may be driven substantiallyindependently of any human input. In this manner, an autonomouslydrivable platform may be a platform that is capable of driving or beingdriven substantially independently of human input.

Thus, the illustrative embodiments provide a method, apparatus, andsystem for building a fuselage assembly for an aircraft. In particular,the illustrative embodiments provide an autonomous flexiblemanufacturing system that automates most, if not all, of the process ofbuilding a fuselage assembly. For example, without limitation, theautonomous flexible manufacturing system may automate the process ofinstalling fasteners to join fuselage skin panels and a fuselage supportstructure together to build the fuselage assembly. The illustrativeembodiments provide a flexible manufacturing system that allows afuselage assembly to be built in an austere manufacturing facility.

However, the illustrative embodiments recognize and take into accountthat automating the process for building a fuselage assembly using anautonomous flexible manufacturing system may present unique technicalchallenges that require unique technical solutions. For example, theillustrative embodiments recognize and take into account that it may bedesirable to provide utilities to all of the various systems within theautonomous flexible manufacturing system. In particular, it may bedesirable to provide these utilities in a manner that will not disruptor delay the process of building the fuselage assembly or restrict themovement of various mobile systems within the autonomous flexiblemanufacturing system over a factory floor.

For example, without limitation, it may be desirable to provide a set ofutilities, such as power, communications, and air, to the autonomousflexible manufacturing system using an infrastructure that includes onlya single direct connection to each of a set of utility sources providingthe set of utilities. These direct connections may be above-ground,in-ground, or embedded. These direct connections may be establishedusing, for example, without limitation, a utility fixture. Thus, theinfrastructure may include a utility fixture that provides a directconnection to each of the set of utility sources and an assembly areawith a floor space sufficiently large to allow the various systems of anautonomous flexible manufacturing system to be coupled to the utilityfixture and each other in series. In this manner, the set of utilitiesmay flow from the set of utility sources to the utility fixture and thendownstream to the various systems of the autonomous flexiblemanufacturing system within the assembly area.

Thus, the illustrative embodiments provide a distributed utility networkthat may be used to provide utilities to the various systems of theautonomous flexible manufacturing system. The distributed utilitynetwork may provide these utilities in a manner that does not restrictor impede movement of the various mobile systems of the autonomousflexible manufacturing system. The different mobile systems of theautonomous flexible manufacturing system may be autonomously coupled toeach other to create this distributed utility network.

Referring now to the figures and, in particular, with reference to FIGS.1-7, illustrations of a manufacturing environment are depicted in theform of block diagrams in accordance with an illustrative embodiment. Inparticular, in FIGS. 1-7, a fuselage assembly, a flexible manufacturingsystem, the various systems within the flexible manufacturing systemthat may be used to build the fuselage assembly, and a distributedutility network are described.

Turning now to FIG. 1, an illustration of a manufacturing environment isdepicted in the form of a block diagram in accordance with anillustrative embodiment. In this illustrative example, manufacturingenvironment 100 may be an example of one environment in which at least aportion of fuselage 102 may be manufactured for aircraft 104.

Manufacturing environment 100 may take a number of different forms. Forexample, without limitation, manufacturing environment 100 may take theform of a factory, a manufacturing facility, an outdoor factory area, anenclosed manufacturing area, an offshore platform, or some other type ofmanufacturing environment 100 suitable for building at least a portionof fuselage 102.

Fuselage 102 may be built using manufacturing process 108. Flexiblemanufacturing system 106 may be used to implement at least a portion ofmanufacturing process 108. In one illustrative example, manufacturingprocess 108 may be substantially automated using flexible manufacturingsystem 106. In other illustrative examples, only one or more stages ofmanufacturing process 108 may be substantially automated.

Flexible manufacturing system 106 may be configured to perform at leasta portion of manufacturing process 108 autonomously. In this manner,flexible manufacturing system 106 may be referred to as autonomousflexible manufacturing system 112. In other illustrative examples,flexible manufacturing system 106 may be referred to as an automatedflexible manufacturing system.

As depicted, manufacturing process 108 may include assembly process 110for building fuselage assembly 114. Flexible manufacturing system 106may be configured to perform at least a portion of assembly process 110autonomously.

Fuselage assembly 114 may be fuselage 102 at any stage duringmanufacturing process 108 prior to the completion of manufacturingprocess 108. In some cases, fuselage assembly 114 may be used to referto a partially assembled fuselage 102. Depending on the implementation,one or more other components may need to be attached to fuselageassembly 114 to fully complete the assembly of fuselage 102. In othercases, fuselage assembly 114 may be used to refer to the fully assembledfuselage 102. Flexible manufacturing system 106 may build fuselageassembly 114 up to the point needed to move fuselage assembly 114 to anext stage in the manufacturing process for building aircraft 104. Insome cases, at least a portion of flexible manufacturing system 106 maybe used at one or more later stages in the manufacturing process forbuilding aircraft 104.

In one illustrative example, fuselage assembly 114 may be an assemblyfor forming a particular section of fuselage 102. As one example,fuselage assembly 114 may take the form of aft fuselage assembly 116 forforming an aft section of fuselage 102. In another example, fuselageassembly 114 may take the form of forward fuselage assembly 117 forforming a forward section of fuselage 102. In yet another example,fuselage assembly 114 may take the form of middle fuselage assembly 118for forming a center section of fuselage 102 or some other middlesection of fuselage 102 between the aft and forward sections of fuselage102.

As depicted, fuselage assembly 114 may include plurality of panels 120and support structure 121. Support structure 121 may be comprised ofplurality of members 122. Plurality of members 122 may be used to bothsupport plurality of panels 120 and connect plurality of panels 120 toeach other. Support structure 121 may help provide strength, stiffness,and load support for fuselage assembly 114.

Plurality of members 122 may be associated with plurality of panels 120.As used herein, when one component or structure is “associated” withanother component or structure, the association is a physicalassociation in the depicted examples.

For example, a first component, such as one of plurality of members 122,may be considered to be associated with a second component, such as oneof plurality of panels 120, by being at least one of secured to thesecond component, bonded to the second component, mounted to the secondcomponent, attached to the component, coupled to the component, weldedto the second component, fastened to the second component, adhered tothe second component, glued to the second component, or connected to thesecond component in some other suitable manner. The first component alsomay be connected to the second component using one or more othercomponents. For example, the first component may be connected to thesecond component using a third component. Further, the first componentmay be considered to be associated with the second component by beingformed as part of the second component, an extension of the secondcomponent, or both. In another example, the first component may beconsidered part of the second component by being co-cured with thesecond component.

As used herein, the phrase “at least one of,” when used with a list ofitems, means different combinations of one or more of the listed itemsmay be used and only one of the items in the list may be needed. Theitem may be a particular object, thing, action, process, or category. Inother words, “at least one of” means any combination of items or numberof items may be used from the list, but not all of the items in the listmay be required.

For example, “at least one of item A, item B, and item C” or “at leastone of item A, item B, or item C” may mean item A; item A and item B;item B; item A, item B, and item C; or item B and item C. In some cases,“at least one of item A, item B, and item C” may mean, for example,without limitation, two of item A, one of item B, and ten of item C;four of item B and seven of item C; or some other suitable combination.

In these illustrative examples, a member of plurality of members 122 maybe associated with at least one of plurality of panels 120 in a numberof different ways. For example, without limitation, a member ofplurality of members 122 may be attached directly to a single panel,attached to two or more panels, attached to another member that isdirectly attached to at least one panel, attached to at least one memberthat is directly or indirectly attached to at least one panel, orassociated with at least one of plurality of panels 120 in some otherway.

In one illustrative example, substantially all or all of plurality ofmembers 122 may be associated with plurality of panels 120 prior to thebeginning of assembly process 110 for building fuselage assembly 114.For example, a corresponding portion of plurality of members 122 may beassociated with each panel of plurality of panels 120 prior to pluralityof panels 120 being joined to each other through assembly process 110.

In another illustrative example, only a first portion of plurality ofmembers 122 may be associated with plurality of panels 120 prior to thebeginning of assembly process 110. Assembly process 110 may includeattaching a remaining portion of plurality of members 122 to pluralityof panels 120 for at least one of providing support to plurality ofpanels 120 or connecting plurality of panels 120 together. The firstportion of plurality of members 122 attached to plurality of panels 120prior to assembly process 110 and the remaining portion of plurality ofmembers 122 attached to plurality of panels 120 during assembly process110 may together form support structure 121.

In yet another illustrative example, all of plurality of members 122 maybe associated with plurality of panels 120 during assembly process 110.For example, each of plurality of panels 120 may be “naked” without anymembers attached to or otherwise associated with the panel prior toassembly process 110. During assembly process 110, plurality of members122 may then be associated with plurality of panels 120.

In this manner, support structure 121 for fuselage assembly 114 may bebuilt up in a number of different ways. Fuselage assembly 114 comprisingplurality of panels 120 and support structure 121 is described ingreater detail in FIG. 2 below.

Building fuselage assembly 114 may include joining plurality of panels120 together. Joining plurality of panels 120 may be performed in anumber of different ways. Depending on the implementation, joiningplurality of panels 120 together may include joining one or more ofplurality of members 122 to one or more of plurality of panels 120 or toother members of plurality of members 122.

In particular, joining plurality of panels 120 may include joining atleast one panel to at least one other panel, joining at least one memberto at least one other member, or joining at least one member to at leastone panel, or some combination thereof. As one illustrative example,joining a first panel and a second panel together may include at leastone of the following: fastening the first panel directly to the secondpanel, joining a first member associated with the first panel to asecond member associated with the second panel, joining a memberassociated with the first panel directly to the second panel, joiningone member associated with both the first panel and the second panel toanother member, joining a selected member to both the first panel andthe second panel, or some other type of joining operation.

Assembly process 110 may include operations 124 that may be performed tojoin plurality of panels 120 together to build fuselage assembly 114. Inthis illustrative example, flexible manufacturing system 106 may be usedto perform at least a portion of operations 124 autonomously.

Operations 124 may include, for example, but are not limited to,temporary connection operations 125, drilling operations 126, fastenerinsertion operations 128, fastener installation operations 130,inspection operations 132, other types of assembly operations, or somecombination thereof. Temporary connection operations 125 may beperformed to temporarily connect plurality of panels 120 together. Forexample, without limitation, temporary connection operations 125 mayinclude temporarily tacking plurality of panels 120 together using tackfasteners.

Drilling operations 126 may include drilling holes through one or moreof plurality of panels 120 and, in some cases, through one or more ofplurality of members 122. Fastener insertion operations 128 may includeinserting fasteners into the holes drilled by drilling operations 126.

Fastener installation operations 130 may include fully installing eachof the fasteners that have been inserted into the holes. Fastenerinstallation operations 130 may include, for example, withoutlimitation, riveting operations, interference-fit bolting operations,other types of fastener installation operations, or some combinationthereof. Inspection operations 132 may include inspecting the fullyinstalled fasteners. Depending on the implementation, flexiblemanufacturing system 106 may be used to perform any number of thesedifferent types of operations 124 substantially autonomously.

As depicted, flexible manufacturing system 106 may include plurality ofmobile systems 134, control system 136, and utility system 138. Each ofplurality of mobile systems 134 may be a drivable mobile system. In somecases, each of plurality of mobile systems 134 may be an autonomouslydrivable mobile system. For example, without limitation, each ofplurality of mobile systems 134 may include one or more components thatmay be autonomously driven within manufacturing environment 100 from onelocation to another location. Plurality of mobile systems 134 aredescribed in greater detail in FIG. 3 below.

In this illustrative example, control system 136 may be used to controlthe operation of flexible manufacturing system 106. For example, withoutlimitation, control system 136 may be used to control plurality ofmobile systems 134. In particular, control system 136 may be used todirect the movement of each of plurality of mobile systems 134 withinmanufacturing environment 100. Control system 136 may be at leastpartially associated with plurality of mobile systems 134.

In one illustrative example, control system 136 may include set ofcontrollers 140. As used herein, a “set of” items may include one ormore items. In this manner, set of controllers 140 may include one ormore controllers.

Each of set of controllers 140 may be implemented using hardware,firmware, software, or some combination thereof. In one illustrativeexample, set of controllers 140 may be associated with plurality ofmobile systems 134. For example, without limitation, one or more of setof controllers 140 may be implemented as part of plurality of mobilesystems 134. In other examples, one or more of set of controllers 140may be implemented independently of plurality of mobile systems 134.

Set of controllers 140 may generate commands 142 to control theoperation of plurality of mobile systems 134 of flexible manufacturingsystem 106. Set of controllers 140 may communicate with plurality ofmobile systems 134 using at least one of a wireless communications link,a wired communications link, an optical communications link, or othertype of communications link. In this manner, any number of differenttypes of communications links may be used for communication with andbetween set of controllers 140.

In these illustrative examples, control system 136 may control theoperation of plurality of mobile systems 134 using data 141 receivedfrom sensor system 133. Sensor system 133 may be comprised of any numberof individual sensor systems, sensor devices, controllers, other typesof components, or combination thereof. In one illustrative example,sensor system 133 may include laser tracking system 135 and radar system137. Laser tracking system 135 may be comprised of any number of lasertracking devices, laser targets, or combination thereof. Radar system137 may be comprised of any number of radar sensors, radar targets, orcombination thereof.

Sensor system 133 may be used to coordinate the movement and operationof the various mobile systems in plurality of mobile systems 134 withinmanufacturing environment 100. As one illustrative example, radar system137 may be used for macro-positioning mobile systems, systems withinmobile systems, components within mobile systems, or some combinationthereof. Further, laser tracking system 135 may be used formicro-positioning mobile systems, systems within mobile systems,components within mobile systems, or some combination thereof.

Plurality of mobile systems 134 may be used to form distributed utilitynetwork 144. Depending on the implementation, one or more of pluralityof mobile systems 134 may form distributed utility network 144. Numberof utilities 146 may flow from number of utility sources 148 to thevarious mobile systems of plurality of mobile systems 134 that make updistributed utility network 144.

In this illustrative example, each of number of utility sources 148 maybe located with manufacturing environment 100. In other illustrativeexamples, one or more of number of utility sources 148 may be locatedoutside of manufacturing environment 100. The corresponding utilityprovided by these one or more utility sources may then be carried intomanufacturing environment 100 using, for example, without limitation,one or more utility cables.

In one illustrative example, distributed utility network 144 may allownumber of utilities 146 to flow directly from number of utility sources148 to one mobile system in plurality of mobile systems 134 over somenumber of utility cables. This one mobile system may then distributenumber of utilities 146 to other mobile systems of plurality of mobilesystems 134 such that these other mobile systems do not need to directlyreceive number of utilities 146 from number of utility sources 148.

As depicted, distributed utility network 144 may be formed using utilitysystem 138. Utility system 138 may include utility fixture 150. Utilitysystem 138 may be configured to connect to number of utility sources 148such that number of utilities 146 may flow from number of utilitysources 148 to utility fixture 150. Utility fixture 150 may beabove-ground or in-ground, depending on the implementation. For example,without limitation, utility fixture 150 may be embedded in a floorwithin manufacturing environment 100.

Utility fixture 150 may then distribute number of utilities 146 to oneor more of plurality of mobile systems 134. In particular, oneautonomous coupling of one of plurality of mobile systems 134 to utilityfixture 150 may be followed by any number of autonomous couplings ofmobile systems to each other in series to form distributed utilitynetwork 144. Utility fixture 150 may distribute number of utilities 146to each of plurality of mobile systems 134 downstream of utility fixture150 in the series of autonomous couplings of the mobile systems.

Depending on the implementation, distributed utility network 144 mayhave a chain-like configuration or a tree-like configuration. In oneillustrative example, plurality of mobile systems 134 may include mobilesystems A, B, C, and D (not shown in figure) with mobile system Aautonomously coupled to utility fixture 150 and mobile systems B, C, andD autonomously coupled to mobile system A and each other in series. Anexample of a chain-like configuration for distributed utility network144 may include number of utilities 146 flowing from number of utilitysources 148 over some number of utility cables to utility fixture 150,from utility fixture 150 to mobile system A, from mobile system A tomobile system B, from mobile system B to mobile system C, and frommobile system C to mobile system D. An example of a tree-likeconfiguration for distributed utility network 144 may include number ofutilities 146 flowing from number of utility sources 148 over somenumber of utility cables to utility fixture 150, from utility fixture150 to mobile system A, from mobile system A to both mobile system B andmobile system C, and from mobile system C to mobile system D. An exampleof one manner in which distributed utility network 144 may beimplemented using plurality of mobile systems 134 is described ingreater detail in FIG. 5 below.

In some illustrative examples, multiple flexible manufacturing systemsmay be used to build multiple fuselage assemblies concurrently. Forexample, flexible manufacturing system 106 may be a first flexiblemanufacturing system of many flexible manufacturing systems.

In one illustrative example, flexible manufacturing system 106, secondflexible manufacturing system 152, and third flexible manufacturingsystem 154 may be used to build aft fuselage assembly 116, middlefuselage assembly 118, and forward fuselage assembly 117, respectively.Aft fuselage assembly 116, middle fuselage assembly 118, and forwardfuselage assembly 117 may then be joined together to form a fullyassembled fuselage 102. In this manner, in this example, flexiblemanufacturing system 106, second flexible manufacturing system 152, andthird flexible manufacturing system 154 may together form flexiblefuselage manufacturing system 158.

Thus, any number of fuselage assemblies, such as fuselage assembly 114,may be built within manufacturing environment 100 using any number offlexible manufacturing systems implemented in a manner similar toflexible manufacturing system 106. Similarly, any number of fullfuselages, such as fuselage 102, may be built within manufacturingenvironment 100 using any number of flexible fuselage manufacturingsystems implemented in a manner similar to flexible fuselagemanufacturing system 158.

With reference now to FIG. 2, an illustration of fuselage assembly 114from FIG. 1 is depicted in the form of a block diagram in accordancewith an illustrative embodiment. As described above, fuselage assembly114 may include plurality of panels 120 and support structure 121.Fuselage assembly 114 may be used to refer to any stage in the buildingof fuselage assembly 114. For example, fuselage assembly 114 may be usedto refer to a single one of plurality of panels 120, multiple ones ofplurality of panels 120 that have been or are being joined together, apartially built fuselage assembly, or a fully built fuselage assembly.

As depicted, fuselage assembly 114 may be built such that fuselageassembly 114 has plurality of fuselage sections 205. Each of pluralityof fuselage sections 205 may include one or more of plurality of panels120. In this illustrative example, each of plurality of fuselagesections 205 may take the form of a cylindrically-shaped fuselagesection, a barrel-shaped fuselage section, a tapered cylindricalfuselage section, a cone-shaped fuselage section, a dome-shaped fuselagesection, or a section having some other type of shape. Depending on theimplementation, a fuselage section of plurality of fuselage sections 205may have a shape that has a substantially circular cross-sectionalshape, elliptical cross-sectional shape, oval cross-sectional shape,polygon with rounded corners cross-sectional shape, or otherwiseclosed-curve cross-sectional shape.

As one specific illustrative example, each of plurality of fuselagesections 205 may be a portion of fuselage assembly 114 defined betweentwo radial cross-sections of fuselage assembly 114 that are takensubstantially perpendicular to a center axis or longitudinal axisthrough fuselage assembly 114. In this manner, plurality of fuselagesections 205 may be arranged along the longitudinal axis of fuselageassembly 114. In other words, plurality of fuselage sections 205 may bearranged longitudinally.

Fuselage section 207 may be an example of one of plurality of fuselagesections 205. Fuselage section 207 may be comprised of one or more ofplurality of panels 120. In one illustrative example, multiple panelsections may be arranged circumferentially around fuselage section 207to form the skin of fuselage section 207. In some cases, multiple rowsof two or more longitudinally adjacent panels may be arrangedcircumferentially around fuselage section 207 to form the skin offuselage section 207.

In one illustrative example, fuselage assembly 114 may have crown 200,keel 202, and sides 204. Sides 204 may include first side 206 and secondside 208.

Crown 200 may be the top portion of fuselage assembly 114. Keel 202 maybe the bottom portion of fuselage assembly 114. Sides 204 of fuselageassembly 114 may be the portions of fuselage assembly 114 between crown200 and keel 202. In one illustrative example, each of crown 200, keel202, first side 206, and second side 208 of fuselage assembly 114 may beformed by at least a portion of at least one of plurality of panels 120.Further, a portion of each of plurality of fuselage sections 205 mayform each of crown 200, keel 202, first side 206, and second side 208.

Panel 216 may be an example of one of plurality of panels 120. Panel 216may also be referred to as a skin panel, a fuselage panel, or a fuselageskin panel, depending on the implementation. In some illustrativeexamples, panel 216 may take the form of a mega-panel comprised ofmultiple smaller panels, which may be referred to as sub-panels. Amega-panel may also be referred to as a super panel. In theseillustrative examples, panel 216 may be comprised of at least one of ametal, a metal alloy, some other type of metallic material, a compositematerial, or some other type of material. As one illustrative example,panel 216 may be comprised of an aluminum alloy, steel, titanium, aceramic material, a composite material, some other type of material, orsome combination thereof.

When used to form keel 202 of fuselage assembly 114, panel 216 may bereferred to as a keel panel or a bottom panel. When used to form one ofsides 204 of fuselage assembly 114, panel 216 may be referred to as aside panel. When used to form crown 200 of fuselage assembly 114, panel216 may be referred to as a crown panel or a top panel. As oneillustrative example, plurality of panels 120 may include crown panels218 for forming crown 200, side panels 220 for forming sides 204, andkeel panels 222 for forming keel 202. Side panels 220 may include firstside panels 224 for forming first side 206 and second side panels 226for forming second side 208.

In one illustrative example, fuselage section 207 of plurality offuselage sections 205 of fuselage assembly 114 may include one of crownpanels 218, two of side panels 220, and one of keel panels 222. Inanother illustrative example, fuselage section 207 may form an end offuselage assembly 114.

In some cases, fuselage section 207 may be comprised solely of a singlepanel, such as panel 216. For example, without limitation, panel 216 maytake the form of end panel 228.

End panel 228 may be used to form one end of fuselage assembly 114. Forexample, when fuselage assembly 114 takes the form of aft fuselageassembly 116 in FIG. 1, end panel 228 may form the aftmost end offuselage assembly 114. When fuselage assembly 114 takes the form offorward fuselage assembly 117 in FIG. 1, end panel 228 may form theforwardmost end of fuselage assembly 114.

In one illustrative example, end panel 228 may take the form of acylindrically-shaped panel, a cone-shaped panel, a barrel-shaped panel,or a tapered cylindrical panel. For example, end panel 228 may be asingle cylindrically-shaped panel having a substantially circularcross-sectional shape that may change in diameter with respect to acenter axis for fuselage assembly 114.

In this manner, as described above, fuselage section 207 may becomprised solely of end panel 228. In some illustrative examples,fuselage section 207 may be an end fuselage section that is comprised ofonly a single panel, which may be end panel 228. In some cases, bulkhead272 may be associated with end panel 228 when fuselage section 207 is anend fuselage section. Bulkhead 272, which may also be referred to as apressure bulkhead, may be considered separate from or part of end panel228, depending on the implementation. Bulkhead 272 may have a dome-typeshape in these illustrative examples.

When fuselage assembly 114 takes the form of aft fuselage assembly 116in FIG. 1, bulkhead 272 may be part of fuselage section 207 located atthe aftmost end of aft fuselage assembly 116. When fuselage assembly 114takes the form of forward fuselage assembly 117 in FIG. 1, bulkhead 272may be part of fuselage section 207 located at forwardmost end of aftfuselage assembly 116. Middle fuselage assembly 118 in FIG. 1 may notinclude a bulkhead, such as bulkhead 272, at either end of middlefuselage assembly 118. In this manner, plurality of fuselage sections205 may be implemented in any number of different ways.

Panel 216 may have first surface 230 and second surface 232. Firstsurface 230 may be configured for use as an exterior-facing surface. Inother words, first surface 230 may be used to form exterior 234 offuselage assembly 114. Second surface 232 may be configured for use asan interior-facing surface. In other words, second surface 232 may beused to form interior 236 of fuselage assembly 114. Each of plurality ofpanels 120 may be implemented in a manner similar to panel 216.

As described earlier, support structure 121 may be associated with acorresponding one of plurality of panels 120. Support structure 121 maybe comprised of plurality of members 122 that are associated with panel216. In one illustrative example, corresponding portion 240 may be theportion of plurality of members 122 that correspond to panel 216.Corresponding portion 240 may form support section 238 corresponding topanel 216. Support section 238 may form a part of support structure 121.

Plurality of members 122 may include support members 242. Supportmembers 242 may include, for example, without limitation, at least oneof connecting members 244, frames 246, stringers 248, stiffeners 250,stanchions 252, intercostal structural members 254, or other types ofstructural members.

Connecting members 244 may connect other types of support members 242together. In some cases, connecting members 244 may also connect supportmembers 242 to plurality of panels 120. Connecting members 244 mayinclude, for example, without limitation, shear clips 256, ties 258,splices 260, intercostal connecting members 262, other types ofmechanical connecting members, or some combination thereof.

In one illustrative example, when panel 216 is comprised of multiplesub-panels, connecting members 244 may be used to, for example, withoutlimitation, connect together complementary frames of frames 246 runningin the hoop-wise direction on adjacent sub-panels and complementarystringers of stringers 248 running in the longitudinal direction onadjacent sub-panels. In other illustrative examples, connecting members244 may be used to connect together complementary frames, stringers, orother types of support members on two or more adjacent panels inplurality of panels 120. In some cases, connecting members 244 may beused to connect together complementary support members on two or moreadjacent fuselage sections.

Operations 124, as described in FIG. 1, may be performed to joinplurality of panels 120 together to build fuselage assembly 114. In oneillustrative example, plurality of fasteners 264 may be used to joinplurality of panels 120 together.

As described above, joining plurality of panels 120 together may beperformed in a number of different ways. Joining plurality of panels 120together may include at least one of joining at least one panel inplurality of panels 120 to another one of plurality of panels 120,joining at least one panel in plurality of panels 120 to at least one ofplurality of members 122, joining at least one member in plurality ofmembers 122 to another one of plurality of members 122, or some othertype of joining operation. Plurality of panels 120 may be joinedtogether such that plurality of members 122 ultimately form supportstructure 121 for fuselage assembly 114.

As depicted, number of floors 266 may be associated with fuselageassembly 114. In this illustrative example, number of floors 266 may bepart of fuselage assembly 114. Number of floors 266 may include, forexample, without limitation, at least one of a passenger floor, a cargofloor, or some other type of floor.

With reference now to FIG. 3, an illustration of plurality of mobilesystems 134 of flexible manufacturing system 106 within manufacturingenvironment 100 from FIG. 1 is depicted in the form of a block diagramin accordance with an illustrative embodiment. As depicted, flexiblemanufacturing system 106 may be used to build fuselage assembly 114 onfloor 300 of manufacturing environment 100. When manufacturingenvironment 100 takes the form of a factory, floor 300 may be referredto as factory floor 302.

In one illustrative example, floor 300 may be substantially smooth andsubstantially planar. For example, floor 300 may be substantially level.In other illustrative examples, one or more portions of floor 300 may besloped, ramped, or otherwise uneven.

Assembly area 304 may be an area within manufacturing environment 100designated for performing assembly process 110 in FIG. 1 to build afuselage assembly, such as fuselage assembly 114. Assembly area 304 mayalso be referred to as a cell or a work cell. In this illustrativeexample, assembly area 304 may be a designated area on floor 300.However, in other illustrative examples, assembly area 304 may include adesignated area on floor 300 as well as the area above this designatedarea. Any number of assembly areas may be present within manufacturingenvironment 100 such that any number of fuselage assemblies may be builtconcurrently within manufacturing environment 100.

As depicted, plurality of mobile systems 134 may include plurality ofautonomous vehicles 306, cradle system 308, tower system 310, andautonomous tooling system 312. Each of plurality of mobile systems 134may be drivable across floor 300. In other words, each of plurality ofmobile systems 134 may be capable of being autonomously driven acrossfloor 300 from one location 315 to another location 317 on floor 300.

In one illustrative example, each of plurality of autonomous vehicles306 may take the form of an automated guided vehicle (AGV), which may becapable of operating independently without human direction or guidance.In some cases, plurality of autonomous vehicles 306 may be referred toas a plurality of automated guided vehicles (AGVs).

In this illustrative example, cradle system 308 may be used to supportand hold fuselage assembly 114 during assembly process 110 in FIG. 1. Insome cases, cradle system 308 may be referred to as a drivable cradlesystem. In still other cases, cradle system 308 may be referred to as anautonomously drivable cradle system.

Cradle system 308 may include number of fixtures 313. As used herein, a“number of” items may include one or more items. In this manner, numberof fixtures 313 may include one or more fixtures. In some illustrativeexamples, number of fixtures 313 may be referred to as a number ofdrivable fixtures. In other illustrative examples, number of fixtures313 may be referred to as a number of autonomously drivable fixtures.

Number of fixtures 313 may include number of cradle fixtures 314. Insome illustrative examples, number of cradle fixtures 314 may bereferred to as a number of drivable cradle fixtures. In otherillustrative examples, number of cradle fixtures 314 may be referred toas a number of autonomously drivable cradle fixtures. Cradle fixture 322may be an example of one of number of cradle fixtures 314.

Number of retaining structures 326 may be associated with each of numberof cradle fixtures 314. Number of retaining structures 326 associatedwith each of number of cradle fixtures 314 may be engaged with and usedto support fuselage assembly 114. For example, number of retainingstructures 326 associated with cradle fixture 322 may be engaged withand used to support one or more of plurality of panels 120.

Number of cradle fixtures 314 may be autonomously driven across floor300 of manufacturing environment 100 to assembly area 304. In oneillustrative example, each of number of cradle fixtures 314 may beautonomously driven across floor 300 using a corresponding one ofplurality of autonomous vehicles 306. In other words, withoutlimitation, number of corresponding autonomous vehicles 316 in pluralityof autonomous vehicles 306 may be used to drive number of cradlefixtures 314 across floor 300 into assembly area 304.

In this illustrative example, number of corresponding autonomousvehicles 316 may drive from, for example, without limitation, holdingarea 318, across floor 300, to assembly area 304. Holding area 318 maybe an area in which at least one of plurality of autonomous vehicles306, cradle system 308, tower system 310, autonomous tooling system 312,or control system 136 from FIG. 1 may be held when flexiblemanufacturing system 106 is not in use or when that particular device orsystem is not in use.

Holding area 318 may be referred to as a home area, a storage area, or abase area, depending on the implementation. Although holding area 318 isdepicted as being located within manufacturing environment 100, holdingarea 318 may be located in some other area or environment outside ofmanufacturing environment 100 in other illustrative examples.

Number of corresponding autonomous vehicles 316 in plurality ofautonomous vehicles 306 may drive number of cradle fixtures 314 intonumber of selected cradle positions 320. As used herein, a “position”may be comprised of a location, an orientation, or both. The locationmay be in two-dimensional coordinates or three-dimensional coordinateswith respect to a reference coordinate system. The orientation may be atwo-dimensional or three-dimensional orientation with respect to areference coordinate system. This reference coordinate system may be,for example, without limitation, a fuselage coordinate system, anaircraft coordinate system, a coordinate system for manufacturingenvironment 100, or some other type of coordinate system.

When number of cradle fixtures 314 includes more than one cradle fixturesuch that number of selected cradle positions 320 includes more than onecradle position, these cradle positions may be positions selectedrelative to each other. In this manner, number of cradle fixtures 314may be positioned such that number of cradle fixtures 314 are in numberof selected cradle positions 320 relative to each other.

In these illustrative examples, number of corresponding autonomousvehicles 316 may be used to drive number of cradle fixtures 314 intonumber of selected cradle positions 320 within assembly area 304.“Driving” a component or a system across floor 300 may mean, forexample, but not limited to, moving substantially the entirety of thatcomponent or system from one location to another location. For example,without limitation, driving cradle fixture 322 across floor 300 may meanmoving the entirety of cradle fixture 322 from one location to anotherlocation. In other words, all or substantially all components thatcomprise cradle fixture 322 may be simultaneously moved together fromone location to another location.

Once number of cradle fixtures 314 has been driven into number ofselected cradle positions 320 in assembly area 304, number of cradlefixtures 314 may be coupled to each other and to tower system 310.Number of corresponding autonomous vehicles 316 may then drive away fromnumber of cradle fixtures 314 to, for example, without limitation,holding area 318, once number of cradle fixtures 314 is positioned innumber of selected cradle positions 320 within selected tolerances. Inother illustrative examples, number of corresponding autonomous vehicles316 may be comprised of a single autonomous vehicle that is used todrive each of number of cradle fixtures 314 into a correspondingselected position in number of selected cradle positions 320 withinassembly area 304 one at a time.

In assembly area 304, number of cradle fixtures 314 may be configured toform assembly fixture 324. Assembly fixture 324 may be formed when thedifferent cradle fixtures in number of cradle fixtures 314 have beenplaced in number of selected cradle positions 320 relative to eachother. In some cases, assembly fixture 324 may be formed when number ofcradle fixtures 314 have been coupled to each other while number ofcradle fixtures 314 is in number of selected cradle positions 320 andwhen number of retaining structures 326 associated with each of numberof cradle fixtures 314 has been adjusted to receive fuselage assembly114.

In this manner, number of cradle fixtures 314 may form a single fixtureentity, such as assembly fixture 324. Assembly fixture 324 may be usedto support and hold fuselage assembly 114. In some cases, assemblyfixture 324 may be referred to as an assembly fixture system or afixture system. In some cases, assembly fixture 324 may be referred toas a drivable assembly fixture. In other cases, assembly fixture 324 maybe referred to as an autonomously drivable assembly fixture.

Once assembly fixture 324 has been formed, number of cradle fixtures 314may receive fuselage assembly 114. In other words, plurality of fuselagesections 205 may be engaged with number of cradle fixtures 314. Inparticular, plurality of fuselage sections 205 may be engaged withnumber of retaining structures 326 associated with each of number ofcradle fixtures 314. Plurality of fuselage sections 205 may be engagedwith number of cradle fixtures 314 in any number of ways.

When number of cradle fixtures 314 includes a single cradle fixture,that cradle fixture may be used to support and hold substantially theentire fuselage assembly 114. When number of cradle fixtures 314includes multiple cradle fixtures, each of these cradle fixtures may beused to support and hold at least one corresponding fuselage section ofplurality of fuselage sections 205.

In one illustrative example, each of plurality of fuselage sections 205may be engaged with number of cradle fixtures 314 one at a time. Forexample, without limitation, all of the panels for a particular fuselagesection in plurality of fuselage sections 205 may be positioned relativeto each other and a corresponding cradle fixture in number of cradlefixtures 314 and then engaged with the corresponding cradle fixture. Theremaining fuselage sections in plurality of fuselage sections 205 maythen be formed and engaged with number of cradle fixtures 314 in asimilar manner. In this manner, plurality of panels 120 may be engagedwith number of cradle fixtures 314 by engaging at least a portion ofplurality of panels 120 with number of retaining structures 326associated with each of number of cradle fixtures 314 that makes upassembly fixture 324 such that plurality of panels 120 is supported bynumber of cradle fixtures 314.

As described in FIG. 2, plurality of panels 120 may include keel panels222, side panels 220, and crown panels 218. In one illustrative example,all of keel panels 222 in FIG. 2 used to form keel 202 of fuselageassembly 114 in FIG. 2 may first be positioned relative to and engagedwith number of cradle fixtures 314. Next, all of side panels 220 in FIG.2 used to form sides 204 of fuselage assembly 114 in FIG. 2 may bepositioned relative to and engaged with keel panels 222. Then, all ofcrown panels 218 in FIG. 2 used to form crown 200 of fuselage assembly114 in FIG. 2 may be positioned relative to and engaged with side panels220. In this manner, plurality of fuselage sections 205 may beconcurrently assembled to form fuselage assembly 114.

In one illustrative example, each panel in plurality of panels 120 mayhave a corresponding portion of plurality of members 122 fully formedand associated with the panel prior to the panel being engaged with oneof number of cradle fixtures 314. This corresponding portion ofplurality of members 122 may be referred to as a support section. Forexample, support section 238 in FIG. 2 may be fully formed andassociated with panel 216 in FIG. 2 prior to panel 216 being engagedwith one of number of cradle fixtures 314 or another panel of pluralityof panels 120 in FIG. 2. In other words, a corresponding portion ofsupport members 242 in FIG. 2 may already be attached to panel 216 and acorresponding portion of connecting members 244 in FIG. 2 alreadyinstalled to connect this portion of support members 242 to each otherprior to panel 216 from FIG. 2 being engaged with one of number ofcradle fixtures 314.

In other illustrative examples, plurality of members 122 may beassociated with plurality of panels 120 after plurality of panels 120have been engaged with each other and number of cradle fixtures 314. Instill other illustrative examples, only a portion of plurality ofmembers 122 may be associated with plurality of panels 120 prior toplurality of panels 120 being engaged with each other and number ofcradle fixtures 314 and then a remaining portion of plurality of members122 associated with plurality of panels 120 once plurality of panels 120have been engaged with each other and number of cradle fixtures 314.

In some illustrative examples, one or more of support members 242 inFIG. 2, one or more of connecting members 244 in FIG. 2, or both may notbe associated with panel 216 when panel 216 from FIG. 2 is engaged withone of number of cradle fixtures 314 or with one of the other panels inplurality of panels 120. For example, without limitation, frames 246described in FIG. 2 may be added to panel 216 from FIG. 2 after panel216 has been engaged with cradle fixture 322. In another example,stiffeners 250 described in FIG. 2 may be added to panel 216 from FIG. 2after panel 216 has been engaged with cradle fixture 322.

Building fuselage assembly 114 may include engaging plurality of panels120 with each other as plurality of panels 120 are built up on number ofcradle fixtures 314 of assembly fixture 324. For example, adjacentpanels in plurality of panels 120 may be connected by connecting atleast a portion of the support members associated with the panels.Depending on the implementation, at least one of lap splices, buttsplices, or other types of splices may be used to connect the adjacentpanels in addition to or in place of connecting the correspondingsupport members of the adjacent panels.

As one illustrative example, the support members associated with twoadjacent panels in plurality of panels 120 may be connected togetherusing connecting members, thereby connecting the two adjacent panels.The two support members associated with these two adjacent panels maybe, for example, without limitation, spliced, tied, clipped, tacked,pinned, joined, or fastened together in some other manner. When the twoadjacent panels are hoop-wise adjacent, complementary frames may beconnected in the hoop-wise direction. When the two adjacent panels arelongitudinally adjacent, complementary stringers may be connected in thelongitudinal direction.

In some cases, connecting complementary stringers, frames, or othersupport members on these two adjacent panels may be part of splicingthese panels together. Adjacent panels may be connected together usingany number of panel splices, stringer splices, frame splices, or othertypes of splices.

In one illustrative example, plurality of panels 120 may be temporarilyconnected to each other by temporarily fastening at least one ofplurality of panels 120 or plurality of members 122 together usingtemporary fasteners or permanent fasteners. For example, withoutlimitation, temporary clamps may be used to temporarily connect and holdin place two of plurality of panels 120 together. Temporarily connectingplurality of panels 120 together may be performed by at least one oftemporarily connecting at least two plurality of panels 120 together,temporarily connecting at least two plurality of members 122 together,or temporarily connecting at least one of plurality of panels 120 to atleast one of plurality of members 122 such that plurality of members 122associated with plurality of panels 120 forms support structure 121 inFIG. 2 for fuselage assembly 114.

As one illustrative example, plurality of panels 120 may be temporarilytacked or pinned together using temporary fasteners 328 until pluralityof fasteners 264 are installed to join plurality of panels 120 togetherto form fuselage assembly 114. Temporarily connecting plurality ofpanels 120 may temporarily connect together plurality of fuselagesections 205 from FIG. 2 formed by plurality of panels 120. Onceplurality of fasteners 264 have been installed, temporary fasteners 328may then be removed.

In this manner, plurality of panels 120 may be connected together in anumber of different ways. Once plurality of panels 120 have beenconnected together, plurality of members 122 may be considered asforming support structure 121 for fuselage assembly 114. Connectingplurality of panels 120 together and forming support structure 121 maymaintain desired compliance with outer mold line requirements and innermold line requirements for fuselage assembly 114. In other words,plurality of panels 120 may be held together in place relative to eachother such that fuselage assembly 114 formed using plurality of panels120 meets outer mold line requirements and inner mold line requirementsfor fuselage assembly 114 within selected tolerances.

In particular, assembly fixture 324 may support plurality of panels 120and support structure 121 associated with plurality of panels 120 suchthat fuselage assembly 114 built using plurality of panels 120 andsupport structure 121 has a shape and a configuration that is withinselected tolerances. In this manner, this shape and configuration may bemaintained within selected tolerances while supporting plurality ofpanels 120 and plurality of members 122 associated with plurality ofpanels 120 during the building of fuselage assembly 114. This shape maybe at least partially determined by, for example, without limitation,the outer mold line requirements and inner mold line requirements forfuselage assembly 114. In some cases, the shape may be at leastpartially determined by the location and orientation of the frames andstringers of fuselage assembly 114.

In some cases, when the assembly of plurality of panels 120 and supportstructure 121 that comprise fuselage assembly 114 has reached a desiredpoint, number of corresponding autonomous vehicles 316 may driveassembly fixture 324 out of assembly area 304. For example, fuselageassembly 114 may be driven across floor 300 into a different area withinmanufacturing environment 100, from floor 300 onto another floor in adifferent manufacturing environment, or from floor 300 onto anotherfloor in some other area or environment.

In one illustrative example, assembly fixture 324 may be driven to someother location at which another assembly fixture is located such thatthe two assembly fixtures may be coupled to form a larger assemblyfixture. As one illustrative example, assembly fixture 324 may be usedto hold and support aft fuselage assembly 116 in FIG. 1, while anotherassembly fixture implemented in a manner similar to assembly fixture 324may be used to hold and support forward fuselage assembly 117 in FIG. 1.Yet another assembly fixture implemented in a manner similar to assemblyfixture 324 may be used to hold and support middle fuselage assembly 118in FIG. 1.

Once these three fuselage assemblies have been built, the three assemblyfixtures may be brought together to form a larger assembly fixture forholding aft fuselage assembly 116, middle fuselage assembly 118, andforward fuselage assembly 117 such that these three fuselage assembliesmay be joined to form fuselage 102 described in FIG. 1. In particular,this larger assembly fixture may hold aft fuselage assembly 116, middlefuselage assembly 118, and forward fuselage assembly 117 in alignmentwith each other such that fuselage 102 may be built within selectedtolerances.

In another illustrative example, a first assembly fixture and a secondassembly fixture implemented in a manner similar to assembly fixture 324may be used to hold and support aft fuselage assembly 116 and forwardfuselage assembly 117, respectively, from FIG. 1. Once these twofuselage assemblies have been built, the two assembly fixtures may thenbe brought together to form a larger assembly fixture for holding thetwo fuselage assemblies such that these fuselage assemblies may bejoined to form fuselage 102. The larger assembly fixture may hold aftfuselage assembly 116 and forward fuselage assembly 117 in alignmentwith each other such that fuselage 102 may be built within selectedtolerances.

As depicted, tower system 310 includes number of towers 330. Tower 332may be an example of one implementation for one of number of towers 330.Tower 332 may be configured to provide access to interior 236 offuselage assembly 114 described in FIG. 2. In some illustrativeexamples, tower 332 may be referred to as a drivable tower. In otherillustrative examples, tower 332 may be referred to as an autonomouslydrivable tower.

In one illustrative example, tower 332 may take the form of first tower334. First tower 334 may also be referred to as an operator tower insome cases. In another illustrative example, tower 332 may take the formof second tower 336. Second tower 336 may also be referred to as arobotics tower in some cases. In this manner, number of towers 330 mayinclude both first tower 334 and second tower 336.

First tower 334 may be configured substantially for use by a humanoperator, whereas second tower 336 may be configured substantially foruse by a mobile platform having at least one robotic device associatedwith the mobile platform. In other words, first tower 334 may allow ahuman operator to access and enter interior 236 of fuselage assembly114. Second tower 336 may allow a mobile platform to access and enterinterior 236 of fuselage assembly 114.

First tower 334 and second tower 336 may be positioned relative toassembly fixture 324 at different times during assembly process 110. Asone illustrative example, one of plurality of autonomous vehicles 306may be used to move or autonomously drive first tower 334 from holdingarea 318 into selected tower position 338 within assembly area 304.Number of cradle fixtures 314 may then be autonomously driven, usingnumber of corresponding autonomous vehicles 316, into number of selectedcradle positions 320 relative to first tower 334, which is in selectedtower position 338 within assembly area 304.

Second tower 336 may be exchanged for first tower 334 at some laterstage during assembly process 110 in FIG. 1. For example, one ofplurality of autonomous vehicles 306 may be used to autonomously drivefirst tower 334 out of assembly area 304 and back into holding area 318.The same autonomous vehicle or a different autonomous vehicle inplurality of autonomous vehicles 306 may then be used to autonomouslydrive second tower 336 from holding area 318 into selected towerposition 338 within assembly area 304 that was previously occupied byfirst tower 334. Depending on the implementation, first tower 334 may belater exchanged for second tower 336.

In other illustrative examples, first tower 334 and second tower 336 mayeach have an autonomous vehicle in plurality of autonomous vehicles 306fixedly associated with the tower. In other words, one of plurality ofautonomous vehicles 306 may be integrated with first tower 334 and oneof plurality of autonomous vehicles 306 may be integrated with secondtower 336. For example, one of plurality of autonomous vehicles 306 maybe considered part of or built into first tower 334. First tower 334 maythen be considered capable of autonomously driving across floor 300. Ina similar manner, one of plurality of autonomous vehicles 306 may beconsidered part of or built into second tower 336. Second tower 336 maythen be considered capable of autonomously driving across floor 300.

Tower system 310 and assembly fixture 324 may be configured to forminterface 340 with each other. Interface 340 may be a physical interfacebetween tower system 310 and assembly fixture 324. Tower system 310 mayalso be configured to form interface 342 with utility system 138. In oneillustrative example, interface 340 and interface 342 may beautonomously formed.

Interface 342 may be a physical interface between tower system 310 andutility system 138. In these illustrative examples, in addition to beingphysical interfaces, interface 340 and interface 342 may also be utilityinterfaces. For example, with respect to the utility of power, interface340 and interface 342 may be considered electrical interfaces.

Utility system 138 is configured to distribute number of utilities 146to tower system 310 when tower system 310 and utility system 138 arephysically and electrically coupled through interface 342. Tower system310 may then distribute number of utilities 146 to assembly fixture 324formed by cradle system 308 when assembly fixture 324 and tower system310 are physically and electrically coupled through interface 340.Number of utilities 146 may include at least one of power, air,hydraulic fluid, communications, water, or some other type of utility.

As depicted, utility system 138 may include utility fixture 150. Utilityfixture 150 may be configured to receive number of utilities 146 fromnumber of utility sources 148. Number of utility sources 148 mayinclude, for example, without limitation, at least one of a powergenerator, a battery system, a water system, an electrical line, acommunications system, a hydraulic fluid system, an air tank, or someother type of utility source. For example, utility fixture 150 mayreceive power from a power generator.

In one illustrative example, utility fixture 150 may be positionedrelative to assembly area 304. Depending on the implementation, utilityfixture 150 may be positioned inside assembly area 304 or outside ofassembly area 304.

In some illustrative examples, utility fixture 150 may be associatedwith floor 300. Depending on the implementation, utility fixture 150 maybe permanently associated with floor 300 or temporarily associated withfloor 300. In other illustrative examples, utility fixture 150 may beassociated with some other surface of manufacturing environment 100,such as a ceiling, or some other structure in manufacturing environment100. In some cases, utility fixture 150 may be embedded within floor300.

In one illustrative example, first tower 334 may be autonomously driveninto selected tower position 338 with respect to floor 300 relative toutility fixture 150 such that interface 342 may be formed between firsttower 334 and utility fixture 150. Once interface 342 has been formed,number of utilities 146 may flow from utility fixture 150 to first tower334. Assembly fixture 324 may then autonomously form interface 340 withfirst tower 334 to form a network of utility cables between first tower334 and assembly fixture 324. Once both interface 342 and interface 340have been formed, number of utilities 146 received at utility fixture150 may flow from utility fixture 150 to first tower 334 and to each ofnumber of cradle fixtures 314 that forms assembly fixture 324. In thismanner, first tower 334 may function as a conduit or “middleman” fordistributing number of utilities 146 to assembly fixture 324.

When interface 340 has been formed between second tower 336 and assemblyfixture 324 and interface 342 has been formed between second tower 336and utility fixture 150, number of utilities 146 may be provided tosecond tower 336 and assembly fixture 324 in a similar manner asdescribed above. Thus, utility fixture 150 may distribute number ofutilities 146 to tower system 310 and assembly fixture 324 without towersystem 310 and cradle assembly fixture 324 having to separately connectto number of utility sources 148 or any other utility sources.

Autonomous tooling system 312 may be used to assemble plurality ofpanels 120 and support structure 121 while fuselage assembly 114 isbeing supported and held by assembly fixture 324. Autonomous toolingsystem 312 may include plurality of mobile platforms 344. Each ofplurality of mobile platforms 344 may be configured to perform one ormore of operations 124 in assembly process 110 described in FIG. 1. Inparticular, plurality of mobile platforms 344 may be autonomously driveninto selected positions relative to plurality of panels 120 withinselected tolerances to autonomously perform operations 124 that joinplurality of panels 120 together to build fuselage assembly 114.Plurality of mobile platforms 344 are described in greater detail inFIG. 4 below.

In this illustrative example, set of controllers 140 in control system136 may generate commands 142 as described in FIG. 1 to control theoperation of at least one of cradle system 308, tower system 310,utility system 138, autonomous tooling system 312, or plurality ofautonomous vehicles 306. Set of controllers 140 in FIG. 1 maycommunicate with at least one of cradle system 308, tower system 310,utility system 138, autonomous tooling system 312, or plurality ofautonomous vehicles 306 using any number of wireless communicationslinks, wired communications links, optical communications links, othertypes of communications links, or combination thereof.

In this manner, plurality of mobile systems 134 of flexiblemanufacturing system 106 may be used to automate the process of buildingfuselage assembly 114. Plurality of mobile systems 134 may enablefuselage assembly 114 to be built substantially autonomously withrespect to joining together plurality of panels 120 to reduce theoverall time, effort, and human resources needed.

Flexible manufacturing system 106 may build fuselage assembly 114 up tothe point needed to move fuselage assembly 114 to the next stage inmanufacturing process 108 for building fuselage 102 or the next stage inthe manufacturing process for building aircraft 104, depending on theimplementation. In some cases, cradle system 308 in the form of assemblyfixture 324 may continue carrying and supporting fuselage assembly 114during one or more of these later stages in manufacturing process 108for building fuselage 102 and aircraft 104.

With reference now to FIG. 4, an illustration of plurality of mobileplatforms 344 from FIG. 3 is depicted in the form of a block diagram inaccordance with an illustrative embodiment. As depicted, plurality ofmobile platforms 344 may include number of external mobile platforms 400and number of internal mobile platforms 402. In this manner, pluralityof mobile platforms 344 may include at least one external mobileplatform and at least one internal mobile platform.

In some illustrative examples, number of external mobile platforms 400may be referred to as a number of drivable external mobile platforms.Similarly, in some cases, number of internal mobile platforms 402 may bereferred to as a number of drivable internal mobile platforms. In otherillustrative examples, number of external mobile platforms 400 andnumber of internal mobile platforms 402 may be referred to as a numberof autonomously drivable external mobile platforms and a number ofautonomously drivable internal mobile platforms, respectively.

External mobile platform 404 may be an example of one of number ofexternal mobile platforms 400 and internal mobile platform 406 may be anexample of one of number of internal mobile platforms 402. Externalmobile platform 404 and internal mobile platform 406 may be platformsthat are autonomously drivable. Depending on the implementation, each ofexternal mobile platform 404 and internal mobile platform 406 may beconfigured to autonomously drive across floor 300 on its own or with theassistance of one of plurality of autonomous vehicles 306 from FIG. 3.

As one illustrative example, without limitation, external mobileplatform 404 may be autonomously driven across floor 300 using acorresponding one of plurality of autonomous vehicles 306. In someillustrative examples, external mobile platform 404 and thiscorresponding one of plurality of autonomous vehicles 306 may beintegrated with each other. For example, the autonomous vehicle may befixedly associated with external mobile platform 404. An entire load ofexternal mobile platform 404 may be transferable to the autonomousvehicle such that driving the autonomous vehicle across floor 300 drivesexternal mobile platform 404 across floor 300.

External mobile platform 404 may be driven from, for example, withoutlimitation, holding area 318 to a position relative to exterior 234 offuselage assembly 114 to perform one or more operations 124 in FIG. 1.As depicted, at least one external robotic device 408 may be associatedwith external mobile platform 404. In this illustrative example,external robotic device 408 may be considered part of external mobileplatform 404. In other illustrative examples, external robotic device408 may be considered a separate component that is physically attachedto external mobile platform 404. External robotic device 408 may takethe form of, for example, without limitation, a robotic arm.

External robotic device 408 may have first end effector 410. Any numberof tools may be associated with first end effector 410. These tools mayinclude, for example, without limitation, at least one of a drillingtool, a fastener insertion tool, a fastener installation tool, aninspection tool, or some other type of tool. In particular, any numberof fastening tools may be associated with first end effector 410.

As depicted, first tool 411 may be associated with first end effector410. In one illustrative example, first tool 411 may be any tool that isremovably associated with first end effector 410. In other words, firsttool 411 associated with first end effector 410 may be changed asvarious operations need to be performed. For example, withoutlimitation, first tool 411 may take the form of one type of tool, suchas a drilling tool, to perform one type of operation. This tool may thenbe exchanged with another type of tool, such as a fastener insertiontool, to become the new first tool 411 associated with first endeffector 410 to perform a different type of operation.

In one illustrative example, first tool 411 may take the form of firstriveting tool 412. First riveting tool 412 may be used to performriveting operations. In some illustrative examples, a number ofdifferent tools may be exchanged with first riveting tool 412 andassociated with first end effector 410. For example, without limitation,first riveting tool 412 may be exchangeable with a drilling tool, afastener insertion tool, a fastener installation tool, an inspectiontool, or some other type of tool.

External mobile platform 404 may be autonomously driven across floor 300and positioned relative to assembly fixture 324 in FIG. 3 supportingfuselage assembly 114 to position first end effector 410 and first tool411 associated with first end effector 410 relative to one of pluralityof panels 120. For example, external mobile platform 404 may beautonomously driven across floor 300 to external position 414 relativeto assembly fixture 324. In this manner, first tool 411 carried byexternal mobile platform 404 may be macro-positioned using externalmobile platform 404.

Once in external position 414, first end effector 410 may beautonomously controlled using at least external robotic device 408 toposition first tool 411 associated with first end effector 410 relativeto a particular location on an exterior-facing side of one of pluralityof panels 120. In this manner, first tool 411 may be micro-positionedrelative to the particular location.

Internal mobile platform 406 may be located on second tower 336 in FIG.3 when internal mobile platform 406 is not in use. When interface 342described in FIG. 3 is formed between second tower 336 and assemblyfixture 324, internal mobile platform 406 may be driven from secondtower 336 into interior 236 of fuselage assembly 114 and used to performone or more of operations 124. In one illustrative example, internalmobile platform 406 may have a movement system that allows internalmobile platform 406 to move from second tower 336 onto a floor insidefuselage assembly 114.

At least one internal robotic device 416 may be associated with internalmobile platform 406. In this illustrative example, internal roboticdevice 416 may be considered part of internal mobile platform 406. Inother illustrative examples, internal robotic device 416 may beconsidered a separate component that is physically attached to internalmobile platform 406. Internal robotic device 416 may take the form of,for example, without limitation, a robotic arm.

Internal robotic device 416 may have second end effector 418. Any numberof tools may be associated with second end effector 418. For example,without limitation, at least one of a drilling tool, a fastenerinsertion tool, a fastener installation tool, an inspection tool, orsome other type of tool may be associated with second end effector 418.In particular, any number of fastening tools may be associated withsecond end effector 418.

As depicted, second tool 419 may be associated with second end effector418. In one illustrative example, second tool 419 may be any tool thatis removably associated with second end effector 418. In other words,second tool 419 associated with second end effector 418 may be changedas various operations need to be performed. For example, withoutlimitation, first tool 411 may take the form of one type of tool, suchas a drilling tool, to perform one type of operation. This tool may thenbe exchanged with another type of tool, such as a fastener insertiontool, to become the new first tool 411 associated with first endeffector 410 to perform a different type of operation.

In one illustrative example, second tool 419 may take the form of secondriveting tool 420. Second riveting tool 420 may be associated withsecond end effector 418. Second riveting tool 420 may be used to performriveting operations. In some illustrative examples, a number ofdifferent tools may be exchanged with second riveting tool 420 andassociated with second end effector 418. For example, withoutlimitation, second riveting tool 420 may be exchangeable with a drillingtool, a fastener insertion tool, a fastener installation tool, aninspection tool, or some other type of tool.

Internal mobile platform 406 may be driven from second tower 336 intofuselage assembly 114 and positioned relative to interior 236 offuselage assembly 114 to position second end effector 418 and secondtool 419 associated with second end effector 418 relative to one ofplurality of panels 120. In one illustrative example, internal mobileplatform 406 may be autonomously driven onto one of number of floors 266in FIG. 2 into internal position 422 within fuselage assembly 114relative to fuselage assembly 114. In this manner, second tool 419 maybe macro-positioned into internal position 422 using internal mobileplatform 406.

Once in internal position 422, second end effector 418 may beautonomously controlled to position second tool 419 associated withsecond end effector 418 relative to a particular location on aninterior-facing side of one of plurality of panels 120 or aninterior-facing side of one of plurality of members 122 in FIG. 2 thatmake up support structure 121. In this manner, second tool 419 may bemicro-positioned relative to the particular location.

In one illustrative example, external position 414 for external mobileplatform 404 and internal position 422 for internal mobile platform 406may be selected such that fastening process 424 may be performed atlocation 426 on fuselage assembly 114 using external mobile platform 404and internal mobile platform 406. In some illustrative examples,location 426 may take the form of operation location 427 that has beencomputed by control system 136 in FIG. 1. Fastening process 424 mayinclude any number of operations. In one illustrative example, fasteningprocess 424 may include at least one of drilling operation 428, fastenerinsertion operation 430, fastener installation operation 432, inspectionoperation 434, or some other type of operation.

As one specific example, drilling operation 428 may be performedautonomously using first tool 411 associated with first end effector 410of external mobile platform 404 or second tool 419 associated withsecond end effector 418 of internal mobile platform 406. For example,without limitation, first tool 411 or second tool 419 may take the formof a drilling tool for use in performing drilling operation 428.Drilling operation 428 may be autonomously performed using first tool411 or second tool 419 to form hole 436 at location 426. Hole 436 maypass through at least one of two panels in plurality of panels 120, twomembers of a plurality of members 122, or a panel and one of pluralityof members 122.

Fastener insertion operation 430 may be performed autonomously usingfirst tool 411 associated with first end effector 410 of external mobileplatform 404 or second tool 419 associated with second end effector 418of internal mobile platform 406. Fastener insertion operation 430 mayresult in fastener 438 being inserted into hole 436.

Fastener installation operation 432 may then be performed autonomouslyusing at least one of first tool 411 associated with first end effector410 of external mobile platform 404 or second tool 419 associated withsecond end effector 418 of internal mobile platform 406. In oneillustrative example, fastener installation operation 432 may beperformed autonomously using first tool 411 in the form of firstriveting tool 412 and second tool 419 in the form of second rivetingtool 420 such that fastener 438 becomes rivet 442 installed at location426. Rivet 442 may be a fully installed rivet. Rivet 442 may be one ofplurality of fasteners 264 described in FIG. 2.

In one illustrative example, fastener installation operation 432 maytake the form of bolt-nut type installation process 433. First tool 411associated with first end effector 410 may be used to, for example,without limitation, install bolt 435 through hole 436. Second tool 419associated with second end effector 418 may then be used to install nut437 over bolt 435. In some cases, installing nut 437 may includeapplying a torque sufficient to nut 437 such that a portion of nut 437breaks off. In these cases, nut 437 may be referred to as a frangiblecollar.

In another illustrative example, fastener installation operation 432 maytake the form of interference-fit bolt-type installation process 439.First tool 411 associated with first end effector 410 may be used to,for example, without limitation, install bolt 435 through hole 436 suchthat an interference fit is created between bolt 435 and hole 436.Second tool 419 associated with second end effector 418 may then be usedto install nut 437 over bolt 435.

In yet another illustrative example, fastener installation operation 432may take the form of two-stage riveting process 444. Two-stage rivetingprocess 444 may be performed using, for example, without limitation,first riveting tool 412 associated with external mobile platform 404 andsecond riveting tool 420 associated with internal mobile platform 406.

For example, first riveting tool 412 and second riveting tool 420 may bepositioned relative to each other by external mobile platform 404 andinternal mobile platform 406, respectively. For example, external mobileplatform 404 and external robotic device 408 may be used to positionfirst riveting tool 412 relative to location 426 at exterior 234 offuselage assembly 114. Internal mobile platform 406 and internal roboticdevice 416 may be used to position second riveting tool 420 relative tothe same location 426 at interior 236 of fuselage assembly 114.

First riveting tool 412 and second riveting tool 420 may then be used toperform two-stage riveting process 444 to form rivet 442 at location426. Rivet 442 may join at least two of plurality of panels 120together, a panel in plurality of panels 120 to support structure 121formed by plurality of members 122, or two panels in plurality of panels120 to support structure 121.

In this example, two-stage riveting process 444 may be performed at eachof plurality of locations 446 on fuselage assembly 114 to installplurality of fasteners 264 as described in FIG. 2. Two-stage rivetingprocess 444 may ensure that plurality of fasteners 264 in FIG. 2 areinstalled at plurality of locations 446 with a desired quality anddesired level of accuracy.

In this manner, internal mobile platform 406 may be autonomously drivenand operated inside fuselage assembly 114 to position internal mobileplatform 406 and second riveting tool 420 associated with internalmobile platform 406 relative to plurality of locations 446 on fuselageassembly 114 for performing assembly process 110 described in FIG. 1.Similarly, external mobile platform 404 may be autonomously driven andoperated around fuselage assembly 114 to position external mobileplatform 404 and first riveting tool 412 associated with external mobileplatform 404 relative to plurality of locations 446 on fuselage assembly114 for performing operations 124.

With reference now to FIG. 5, an illustration of a flow of number ofutilities 146 across distributed utility network 144 from FIG. 1 isdepicted in the form of a block diagram in accordance with anillustrative embodiment. As depicted, number of utilities 146 may bedistributed across distributed utility network 144.

Distributed utility network 144 may include, for example, withoutlimitation, number of utility sources 148, utility fixture 150, numberof towers 330, assembly fixture 324, number of external mobile platforms400, and number of utility units 500. In some cases, distributed utilitynetwork 144 may also include number of internal mobile platforms 402. Insome illustrative examples, number of utility sources 148 may beconsidered separate from distributed utility network 144.

In this illustrative example, only one of number of towers 330 may beincluded in distributed utility network 144 at a time. When first tower334 is used, distributed utility network 144 may be formed when utilityfixture 150 is coupled to number of utility sources 148, first tower 334is coupled to utility fixture 150, assembly fixture 324 is coupled tofirst tower 334, and number of external mobile platforms 400 is coupledto number of utility units 500.

Number of utility units 500 may be associated with number of cradlefixtures 314 of assembly fixture 324 or separated from number of cradlefixtures 314. For example, without limitation, a number of dualinterfaces may be created between number of external mobile platforms400, number of utility units 500, and number of cradle fixtures 314using one or more dual-interface couplers.

When second tower 336 is used, distributed utility network 144 may beformed when utility fixture 150 is coupled to number of utility sources148, second tower 336 is coupled to utility fixture 150, assemblyfixture 324 is coupled to second tower 336, number of internal mobileplatforms 402 is coupled to second tower 336, and number of externalmobile platforms 400 is coupled to number of utility units 500, whichmay be associated with number of cradle fixtures 314 or separated fromnumber of cradle fixtures 314. Number of internal mobile platforms 402may receive number of utilities 146 through a number of cable managementsystems associated with second tower 336.

In this manner, number of utilities 146 may be distributed acrossdistributed utility network 144 using a single utility fixture 150. Thistype of distributed utility network 144 may reduce the number of utilitycomponents, utility cables, and other types of devices needed to providenumber of utilities 146 to the various components in distributed utilitynetwork 144. Further, with this type of distributed utility network 144,starting from at least utility fixture 150, number of utilities 146 maybe provided completely above floor 300 of manufacturing environment inFIG. 1.

The illustrative embodiments recognize and take into account that it maybe desirable to have a method and apparatus for positioning an endeffector with a desired level of precision relative to a fuselageassembly, such as fuselage assembly 114 in FIG. 1. In particular, theillustrative embodiments recognize and take into account that it may bedesirable to have a method and apparatus for autonomously positioning anend effector relative to a fuselage assembly with the desired level ofprecision.

The illustrative embodiments recognize and take into account that usinga metrology system, such as a laser tracking system, may allow aposition of an end effector, a tool, or a tool center point to bemeasured relative to a fuselage assembly within selected tolerances.Further, the illustrative embodiments recognize and take into accountthat data generated by the metrology system may be processed and used toprecisely coordinate, or synchronize, the positioning of tools at anexterior and interior of a fuselage assembly.

With reference now to FIG. 6, an illustration of control system 136controlling the positioning of an end effector based on data from ametrology system is depicted in the form of a block diagram inaccordance with an illustrative embodiment. In this illustrativeexample, control system 136 may use data 600 received from metrologysystem 601 to position end effector 602 relative to fuselage assembly114 from FIG. 1.

End effector 602 may be associated with robotic device 604. In somecases, end effector 602 may be removably associated with robotic device604. Robotic device 604 may be associated with mobile platform 606.

In one illustrative example, end effector 602 may take the form of firstend effector 410 in FIG. 1. In this example, robotic device 604 may takethe form of external robotic device 408 in FIG. 4. Further, in thisexample, mobile platform 606 may take the form of external mobileplatform 404 in FIG. 4.

In another illustrative example, end effector 602 may take the form ofsecond end effector 418 in FIG. 4. In this other example, robotic device604 may take the form of internal robotic device 416 in FIG. 4. Further,in this other example, mobile platform 606 may take the form of internalmobile platform 406, respectively, in FIG. 4.

In this illustrative example, mobile platform 606 may have base 608.Robotic device 604 may be associated with base 608 of mobile platform606 through robotic base 610. Robotic base 610 may be considered part ofor separate from robotic device 604, depending on the implementation. Inone illustrative example, robotic base 610 may be directly associatedwith base 608. In another illustrative example, robotic base 610 may beassociated with base 608 through supporting structure 612. Supportingstructure 612 may be, for example, without limitation, mounted to base608.

In some illustrative examples, robotic base 610 may be movable with atleast one degree of freedom relative to base 608. In some cases, roboticbase 610 may be movable relative to supporting structure 612. Roboticdevice 604 may be configured to move end effector 602 relative torobotic base 610, and thereby base 608 of mobile platform 606. Roboticdevice 604 may move end effector 602 with at least one degree offreedom. As one illustrative example, robotic device 604 may take theform of a robotic arm capable of moving end effector 602 relative torobotic base 610 with up to six degrees of freedom or more.

In this illustrative example, number of tools 614 may be associated withend effector 602. Number of tools 614 may include, for example, withoutlimitation, tool 616. Tool 616 may take the form of first tool 411 inFIG. 4 or second tool 419 in FIG. 4, depending on the implementation.

Robotic device 604 may have tool center point (TCP) 618. Tool centerpoint 618 may be the mathematical point that robotic device 604 ismoving through space. In this illustrative example, tool center point618 may be located at an end of end effector 602 that is configured forassociation with a tool, such as tool 616. In these illustrativeexamples, controlling the movement and positioning of end effector 602may comprise controlling the movement and positioning of tool centerpoint 618.

In this illustrative example, platform movement system 620 may beassociated with base 608 of mobile platform 606. Platform movementsystem 620 may be used to move base 608, and thereby mobile platform606, relative to a surface, such as floor 300 of manufacturingenvironment 100 or floor 621 within interior 236 of fuselage assembly114. Floor 621 may be an example of one of number of floors 266 in FIG.2. Depending on the implementation, floor 621 may take the form of apassenger or cargo floor.

In one illustrative example, platform movement system 620 may beimplemented using autonomous vehicle 622. Autonomous vehicle 622 may be,for example, without limitation, fixedly associated with base 608. Whenmobile platform 606 takes the form of external mobile platform 404 inFIG. 4, autonomous vehicle 622 may drive mobile platform 606 acrossfloor 300 of manufacturing environment 100.

In some cases, platform movement system 620 may take the form of tracksystem 623. When mobile platform 606 takes the form of internal mobileplatform 406 in FIG. 4, track system 623 may be used to move mobileplatform 606 across floor 621 inside fuselage assembly 114. For example,without limitation, track system 623 may be used to drive mobileplatform 606 from home position 624 on tower 332 onto floor 621.

Track system 623 may be controlled using, for example, withoutlimitation, computer numerical control (CNC). Track system 623 may bemoved to various predetermined positions relative to floor 621 based onthis computer numerical control.

Control system 136 may use data 600 received from metrology system 601to control the positioning of end effector 602 relative to fuselageassembly 114. In particular, control system 136 may control the movementof base 608, robotic base 610, and robotic device 604 relative tofuselage assembly 114 to control the positioning of end effector 602relative to fuselage assembly 114. As described above in FIG. 1, controlsystem 136 may be comprised of set of controllers 140 in FIG. 1.

As depicted, metrology system 601 may be an example of oneimplementation for sensor system 133 in FIG. 1. Data 600 may be anexample of one implementation for data 141 in FIG. 1. As depicted,metrology system 601 may include laser tracking system 135 as describedin FIG. 1, radar system 137 as described in FIG. 1, and vision system625.

Laser tracking system 135 may include any number of laser trackingdevices and laser targets. In this illustrative example, laser trackingsystem 135 may include set of laser tracking devices 626, fuselage lasertargets 628, and platform laser targets 630. Set of laser trackingdevices 626 may be associated with tower 332. Depending on theimplementation, one portion of set of laser tracking devices 626 may beassociated with tower 332 in the form of first tower 334 in FIG. 3,while another portion of set of laser tracking devices 626 may beassociated with tower 332 in the form of second tower 336 in FIG. 3.

Plurality of fuselage laser targets 628 may be associated with fuselageassembly 114. For example, without limitation, each of fuselage lasertargets 628 may be associated with at least one of a panel in pluralityof panels 120 in FIGS. 1-2, a member of plurality of members 122 in FIG.1, or some other type of structure associated with fuselage assembly114. In this illustrative example, fuselage laser targets 628 may beattached to interior 236 of fuselage assembly 114. However, in otherillustrative examples, at least a portion of fuselage laser targets 628may be attached to exterior 234 of fuselage assembly 114.

Platform laser targets 630 may be associated with mobile platform 606.For example, without limitation, platform laser targets 630 may beattached to at least one of base 608, robotic base 610, end effector602, one of number of tools 614, or some other member, element, or unitassociated with mobile platform 606. In one illustrative example, atleast a portion of platform laser targets 630 may be associated withrobotic base 610.

Radar system 137 may include any number of radar sensors and any numberof radar targets. In this illustrative example, radar system 137 mayinclude set of radar sensors 632 and number of radar targets 634. Set ofradar sensors 632 may be associated with at least one of platformmovement system 620 or base 608 of mobile platform 606. Number of radartargets 634 may be associated with assembly fixture 324 used to supportfuselage assembly 114. As one illustrative example, at least one ofnumber of radar targets 634 may be associated with each of number ofcradle fixtures 314 in FIG. 3 that make up assembly fixture 324.

Vision system 625 may include any number of imaging systems. Forexample, without limitation, vision system 625 may include imagingsystem 635 associated with robotic device 604. In some cases, imagingsystem 635 may be associated with end effector 602.

Control system 136 may use data 600 to position end effector 602 suchthat one or more assembly operations may be performed on fuselageassembly 114 using at least one of number of tools 614 associated withend effector 602. In this illustrative example, number of tools 614 maybe used to install set of fasteners 636. As depicted, set of fasteners636 may be installed within region 638 of fuselage assembly 114.

Control system 136 may identify the location within region 638 at whicheach of set of fasteners 636 is to be installed based on set ofreference points 640. Set of reference points 640 may include referencepoint 642. In some cases, reference point 642 may take the form of firstreference point 644 and set of reference points 640 may further includesecond reference point 646.

In one illustrative example, each of set of reference points 640 may bea point on a reference fastener. Reference point 642 may be a point onreference fastener 645. When set of reference points 640 are visible atexterior 234 of fuselage assembly 114, set of reference points 640 maybe referred to as a set of exterior reference points. When set ofreference points 640 are visible at interior 236 of fuselage assembly114, set of reference points 640 may be referred to as a set of interiorreference points.

When reference point 642 takes the form of first reference point 644,first reference point 644 may be a point on first reference fastener648. Second reference point 646 may be a point on second referencefastener 650. In some cases, first reference point 644 and secondreference point 646 may be the center points on the ends of firstreference fastener 648 and second reference fastener 650, respectively.

When mobile platform 606 takes the form of internal mobile platform 406in FIG. 4, first reference point 644 and second reference point 646 maybe the center points on the internally-visible ends of first referencefastener 648 and second reference fastener 650, respectively. Whenmobile platform 606 takes the form of external mobile platform 404 inFIG. 4, first reference point 644 and second reference point 646 may bethe center points on the externally-visible ends of first referencefastener 648 and second reference fastener 650, respectively.

Reference point 642 may be physically located at reference location 652on fuselage assembly 114. Reference location 652 may be referred to asthe true reference location, or true physical location, of referencepoint 642 on fuselage assembly 114.

When reference point 642 takes the form of first reference point 644,reference location 652 may take the form of first reference location654. In other words, first reference point 644 may be physically locatedat first reference location 654 on fuselage assembly 114. In particular,first reference point 644 may be visible at second reference location655 on fuselage assembly 114.

Second reference point 646 may be physically located at second referencelocation 655 on fuselage assembly 114. In this illustrative example,second reference point 646 may be visible at second reference location655 on fuselage assembly 114. First reference location 654 and secondreference location 655 may be the true physical locations of firstreference point 644 and second reference point 646, respectively.

In these illustrative examples, control system 136 may performmacro-positioning 656, meso-positioning 658, micro-positioning 660, orsome combination thereof of end effector 602 in order to preciselyposition end effector 602 at each of the one or more desired locationson fuselage assembly 114 at which set of fasteners 636 is to beinstalled. Macro-positioning 656, meso-positioning 658, andmicro-positioning 660 as controlled by control system 136 are describedin greater detail in FIG. 7 below.

With reference now to FIG. 7, an illustration of macro-positioning 656,meso-positioning 658, and micro-positioning 660 as performed by controlsystem 136 from FIG. 6 is depicted in accordance with an illustrativeembodiment. In this illustrative example, macro-positioning 656 of endeffector 602 in FIG. 6 may be performed by macro-positioning base 608 ofmobile platform 606 in FIG. 6.

Macro-positioning 656 may be performed to move base 608 of mobileplatform 606 shown in FIG. 6 relative to floor 300 of manufacturingenvironment 100 shown in FIG. 6 or floor 621 inside fuselage assembly114 shown in FIG. 6. For example, without limitation, base 608 may bemacro-positioned by driving base 608 across floor 300 of manufacturingenvironment 100 in FIG. 1.

In some cases, macro-positioning 656 may be performed using radar data700 received from set of radar sensors 632. Radar data 700 may include,for example, without limitation, at least one measurement of thedistance between at least one of set of radar sensors 632 and a detectedradar target, such as one of number of radar targets 634. Control system136 may process radar data 700 to generate number of macro-commands 702.Number of macro-commands 702 may be processed by, for example, platformmovement system 620 in FIG. 6 associated with base 608 of mobileplatform 606 in FIG. 6. Number of macro-commands 702 may controlplatform movement system 620 in FIG. 6 such that base 608 of mobileplatform 606 in FIG. 6 is moved relative to a position relative tofuselage assembly 114.

When mobile platform 606 in FIG. 6 takes the form of external mobileplatform 404 in FIG. 4, number of macro-commands 702 may take the formof number of external macro-commands 704. Number of externalmacro-commands 704 may control movement of platform movement system 620in FIG. 6. In particular, number of external macro-commands 704 maycause platform movement system 620 to move base 608 in FIG. 6 relativeto floor 300 of manufacturing environment 100 in FIG. 6. When mobileplatform 606 in FIG. 6 takes the form of internal mobile platform 406 inFIG. 4, number of macro-commands 702 may take the form of number ofinternal macro-commands 706. Number of internal macro-commands 706 maycontrol movement of platform movement system 620 in FIG. 6. Inparticular, number of internal macro-commands 706 may cause platformmovement system 620 to move base 608 in FIG. 6 relative to floor 621inside fuselage assembly 114 in FIG. 6.

In some cases, macro-positioning 656 may include controlling themovement of robotic base 610 in FIG. 6 relative to base 608 in FIG. 6.For example, in some cases, number of macro-commands 702 may be used tofurther command a movement system (not shown) associated with roboticbase 610 in FIG. 6 to move robotic base 610 relative to base 608 ofmobile platform 606 in FIG. 6. In one illustrative example, robotic base610 in FIG. 6 may be moved vertically along supporting structure 612 inFIG. 6. In some cases, this type of positioning may be referred to aspositioning robotic base 610 at an assembly station (not shown) relativeto fuselage assembly 114 in FIG. 1.

In these illustrative examples, meso-positioning 658 may be performedafter macro-positioning 656. Meso-positioning 658 may be performed usinglaser measurement data 708 generated by set of laser tracking devices626 of laser tracking system 135. Meso-positioning 658 may includedetermining configuration 710 of fuselage assembly 114 shown in FIG. 6.Configuration 710 may also be referred to as a fuselage assemblyconfiguration in other illustrative examples.

Configuration 710 of fuselage assembly 114 may be determined based onfuselage target locations 712 of fuselage laser targets 628 associatedwith fuselage assembly 114 shown in FIG. 6. Control system 136 mayidentify fuselage target locations 712 based on laser measurement data708. Fuselage laser targets 628 may be associated with fuselage assembly114 shown in FIG. 6 in a known configuration relative to each other. Inother words, fuselage target locations 712 relative to each other may beknown.

Control system 136 may use fuselage target locations 712 to determineany deviation of fuselage assembly 114 shown in FIG. 6 from referencecoordinate system 715 for fuselage assembly 114. Reference coordinatesystem 715 may also be referred to as a nominal coordinate system forfuselage assembly 114. In one illustrative example, reference coordinatesystem 715 may be based on a computer model (not shown) of fuselageassembly 114 in FIG. 6.

Configuration 710 of fuselage assembly 114 shown in FIG. 6 may includethe configurations of plurality of panels 120 and plurality of members122 in FIG. 1 that make up fuselage assembly 114 as described in FIGS. 1and 6 relative to each other. In this manner, configuration 710 mayrepresent an actual configuration of fuselage assembly 114, which mayfundamentally capture any deviation of fuselage assembly 114 fromreference coordinate system 715.

In one illustrative example, set of laser tracking devices 626 may beused to scan for and detect at least three of fuselage laser targets628. The locations of these three fuselage laser targets may then beidentified by control system 136 within selected tolerances based onlaser measurement data 708 generated by set of laser tracking devices626. Once the locations of these three fuselage laser targets are known,control system 136 may then be able to determine the locations of theremaining portion of fuselage laser targets 628 within selectedtolerances.

Control system 136 may identify platform target locations 714 ofplatform laser targets 630 associated with mobile platform 606 in FIG. 6in a manner similar to the identification of fuselage laser targets 628.When mobile platform 606 in FIG. 6 takes the form of external mobileplatform 404 in FIG. 4, platform laser targets 630 and platform targetlocations 714 may be referred to as external platform laser targets andexternal platform target locations, respectively. When mobile platform606 in FIG. 6 takes the form of internal mobile platform 406 in FIG. 4,platform laser targets 630 and platform target locations 714 may bereferred to as internal platform laser targets and internal platformtarget locations, respectively.

Control system 136 may identify current position 718 of end effector 602in FIG. 6 based on platform target locations 714. For example, withoutlimitation, platform target locations 714 may include locations for aportion of platform laser targets 630 associated with robotic base 610in FIG. 6. Control system 136 may use platform target locations 714 toidentify current base position 720 of robotic base 610 relative toconfiguration 710. Any number of transformations, kinematic equations,encoder data, or combination thereof may then be used to identifycurrent position 718 of end effector 602 in FIG. 6 relative to fuselageassembly 114 in FIG. 6 based on current base position 720.

In some cases, a portion of platform laser targets 630 in FIG. 6 may beassociated with end effector 602 in FIG. 6. Platform target locations714 may thus include locations corresponding to this portion of platformlaser targets 630. In some illustrative examples, control system 136 mayidentify current position 718 based on the locations of the portion ofplatform laser targets 630 associated with end effector 602.

In one illustrative example, current position 718 of end effector 602 inFIG. 6 may be default position 716 relative to base 608 of mobileplatform 606 in FIG. 6. In this example, end effector 602 may havedefault position 716 relative to base 608 in FIG. 6 during and aftermacro-positioning 656.

Control system 136 may then meso-position end effector 602 in FIG. 6 bymoving end effector 602 from current position 718 to another position.As one illustrative example, control system 136 may use configuration710 to identify set of expected reference locations 722. Set of expectedreference locations 722 may include an expected location on fuselageassembly 114 in FIG. 6 for each of set of reference points 640 in FIG. 6based on configuration 710.

For example, without limitation, set of reference points 640 in FIG. 6may have predetermined locations relative to each other with respect toreference coordinate system 715. However, during the building offuselage assembly 114 on assembly fixture 324 shown in FIG. 6, thephysical locations of set of reference points 640 may shift from thesepredetermined locations.

Control system 136 may use configuration 710 determined based onfuselage target locations 712 to compute set of expected referencelocations 722 for set of reference points 640 in FIG. 6. Each of set ofexpected reference locations 722 may be within selected tolerances ofthe true, physical location for the corresponding one of set ofreference points 640 in FIG. 6. Expected reference location 725 may bean example of one of set of expected reference locations 722. In oneillustrative example, expected reference location 725 may be computedfor reference point 642 in FIG. 6.

In one illustrative example, the selected tolerances may be, forexample, without limitation, within about 0.5 inches to about 3 inches.As one illustrative example, the difference between expected referencelocation 725 computed by control system 136 for reference point 642 andreference location 652 of reference point 642 in FIG. 6 may be less thanabout 0.5 inches, less than about 1 inch, less than about 1.5 inches,less than about 2.0 inches, or within some other selected tolerance.

When mobile platform 606 in FIG. 6 takes the form of external mobileplatform 404 in FIG. 4, set of reference points 640 in FIG. 6 may bealong exterior 234 of fuselage assembly 114 in FIG. 6 and set ofexpected reference locations 722 may be referred to as set of externalexpected reference locations 724. When mobile platform 606 in FIG. 6takes the form of internal mobile platform 406 in FIG. 4, set ofreference points 640 in FIG. 6 may be along interior 236 of fuselageassembly 114 in FIG. 6 and set of expected reference locations 722 maybe referred to as set of internal expected reference locations 726.

Control system 136 may generate number of meso-commands 728 to controlthe movement of end effector 602 in FIG. 6 from current position 718 toa position relative to one of set of expected reference locations 722.For example, without limitation, number of meso-commands 728 may be sentto robotic device 604 in FIG. 6. Robotic device 604 in FIG. 6 may thenmove end effector 602 in FIG. 6 from current position 718 relative tofuselage assembly 114 in FIG. 6 to a position relative to expectedreference location 725.

When mobile platform 606 in FIG. 6 takes the form of external mobileplatform 404 in FIG. 4, number of meso-commands 728 may be referred toas number of external meso-commands 730. When mobile platform 606 inFIG. 6 takes the form of internal mobile platform 406 in FIG. 4, numberof meso-commands 728 may be referred to as number of internalmeso-commands 732.

Once end effector 602 in FIG. 6 has been meso-positioned relative toexpected reference location 725, control system 136 may then performmicro-positioning 660. Micro-positioning 660 of end effector 602 mayinclude micro-positioning 660 at least one of micro-positioning at leastone of number of tools 614 in FIG. 6 or micro-positioning tool centerpoint 618 in FIG. 6. In some cases, micro-positioning end effector 602may fundamentally micro-position tool center point 618 in FIG. 6.

Micro-positioning 660 may be performed using vision system 625. Forexample, micro-positioning 660 may be performed using imaging data 736generated by imaging system 635.

Imaging data 736 may be processed by control system 136 to identify setof actual reference locations 738 for set of reference points 640 inFIG. 6 within selected tolerances. In this illustrative example, each ofset of actual reference locations 738 for set of reference points 640 inFIG. 6 may be a computed value within selected tolerances of the true,physical location for each of set of reference points 640 with respectto configuration 710 of fuselage assembly 114.

For example, without limitation, after end effector 602 in FIG. 6 hasbeen meso-positioned relative to expected reference location 725 forreference point 642 in FIG. 6, control system 136 may generate imagingdata 736 of reference point 642. In one illustrative example, imagingsystem 635 may generate an image of the area on fuselage assembly 114within the field of view of imaging system 635 that captures referencepoint 642 in FIG. 6. Control system 136 may then use imaging data 736 tocompute actual reference location 740 of reference point 642 in FIG. 6.Actual reference location 740 computed by control system 136 may matchreference location 652 of reference point 642 in FIG. 6, which may bethe true physical location of reference point 642 in FIG. 6, withinselected tolerances.

Thus, end effector 602 in FIG. 6 may be positioned relative to each ofset of expected reference locations 722. Imaging data 736 may begenerated with end effector 602 positioned relative to each of set ofexpected reference locations 722. Control system 136 may use imagingdata 736 to compute set of actual reference locations 738. As oneillustrative example, set of actual reference locations 738 may bereferred to as set of actual exterior reference locations 742 when setof reference points 640 in FIG. 6 are along exterior 234 in FIG. 6. Setof actual reference locations 738 may be referred to as set of actualinterior reference locations 744 when set of reference points 640 inFIG. 6 are along interior 236 in FIG. 6.

Control system 136 may use set of actual reference locations 738 tocompute set of operation locations 750 on fuselage assembly 114. Each ofset of operation locations 750 may be a location on fuselage assembly114 in FIG. 6 at which an assembly operation is to be performed. Forexample, each of set of operation locations 750 may be a location onfuselage assembly 114 in FIG. 6 at which fastening process 424 in FIG. 4is to be performed. As one specific example, each of set of operationlocations 750 may be a location on fuselage assembly 114 in FIG. 6 atwhich a corresponding one of set of fasteners 636 in FIG. 6 is to beinstalled. Operation location 427 in FIG. 4 may be an example of one ofset of operation locations 750.

When mobile platform 606 in FIG. 6 takes the form of external mobileplatform 404 in FIG. 4, set of operation locations 750 may be referredto as set of exterior operation locations 752. When mobile platform 606in FIG. 6 takes the form of internal mobile platform 406 in FIG. 4, setof operation locations 750 may be referred to as set of interioroperation locations 754.

Control system 136 may generate number of micro-commands 760 forpositioning end effector 602 in FIG. 2 relative to each of set ofoperation locations 750. When mobile platform 606 in FIG. 6 takes theform of external mobile platform 404 in FIG. 4, number of micro-commands760 may be referred to as number of external micro-commands 762. Whenmobile platform 606 in FIG. 6 takes the form of internal mobile platform406 in FIG. 4, number of micro-commands 760 may be referred to as numberof internal micro-commands 764.

In one illustrative example, control system 136 may position endeffector 602 relative to each of set of operation locations 750 suchthat a corresponding one of set of fasteners 636 in FIG. 6 may beinstalled. In particular, end effector 602 in FIG. 6 may be preciselypositioned at each of set of operation locations 750.

In some cases, metrology system 601 may include orientation sensorsystem 756. Orientation sensor system 756 may include any number ofsensor devices for determining whether end effector 602 in FIG. 6 ortool 616 associated with end effector 602 in FIG. 6 is orientedsubstantially normal relative to the surface of fuselage assembly 114 inFIG. 6. In these cases, control system 136 may process orientation data758 generated by orientation sensor system 756 as part ofmicro-positioning 660. Thus, number of micro-commands 760 may alsocontrol the positioning of end effector 602 in FIG. 6 relative to eachof set of operation locations 750 such that end effector 602 or tool 616associated with end effector 602 in FIG. 6 is orientated substantiallynormal relative to the surface of fuselage assembly 114 in FIG. 6 ateach location.

Control system 136 may perform macro-positioning 656, meso-positioning658, and micro-positioning 660 for two end effectors concurrently. Asone illustrative example, control system 136 may performmacro-positioning 656, meso-positioning 658, and micro-positioning 660for first end effector 410 of external mobile platform 404 in FIG. 4 andsecond end effector 418 of internal mobile platform 406 in FIG. 4concurrently.

Ultimately, control system 136 may compute set of exterior operationlocations 752 for first end effector 410 in FIG. 4 and set of interioroperation locations 754 for second end effector 418 in FIG. 4. Controlsystem 136 may perform macro-positioning 656, meso-positioning 658, andmicro-positioning 660 such that set of exterior operation locations 752and set of interior operation locations 754 are within selectedtolerances of each other. In this manner, set of exterior operationlocations 752 and set of interior operation locations 754 may beconsidered a final set of locations at which set of fasteners 636 may beinstalled.

In some illustrative examples, number of transformations 748 may be usedin computing set of operation locations 750 based on set of actualreference locations 738. Number of transformations 748 may ensure thatset of exterior operation locations 752 match set of interior operationlocations 754 within selected tolerances.

Depending on the implementation, set of exterior operation locations 752or set of interior operation locations 754 may be considered the finalset of locations for set of fasteners 636 in FIG. 6. For example,without limitation, first tool 411 associated with first end effector410 in FIG. 4 may perform drilling operation 428 and fastener insertionoperation 430 as described in FIG. 4 at one of set of exterior operationlocations 752. First tool 411 associated with first end effector 410 inFIG. 4 and second tool 419 associated with second end effector 418 inFIG. 4 may then collaboratively perform fastener installation operation432 described in FIG. 4 with first tool 411 positioned at the particularone of set of exterior operation locations 752 and with second tool 419positioned at the corresponding one of set of interior operationlocations 754. The corresponding one of set of interior operationlocations 754 may match the particular one of set of exterior operationlocations 752 within selected tolerances such that a fastener installedby fastener installation operation 432 in FIG. 4 meets selectedrequirements.

The illustrations in FIGS. 1-7 are not meant to imply physical orarchitectural limitations to the manner in which an illustrativeembodiment may be implemented. Other components in addition to or inplace of the ones illustrated may be used. Some components may beoptional. Also, the blocks are presented to illustrate some functionalcomponents. One or more of these blocks may be combined, divided, orcombined and divided into different blocks when implemented in anillustrative embodiment.

For example, in some cases, more than one flexible manufacturing systemmay be present within manufacturing environment 100. These multipleflexible manufacturing systems may be used to build multiple fuselageassemblies within manufacturing environment 100. In other illustrativeexamples, flexible manufacturing system 106 may include multiple cradlesystems, multiple tower systems, multiple utility systems, multipleautonomous tooling systems, and multiple pluralities of autonomousvehicles such that multiple fuselage assemblies may be built withinmanufacturing environment 100.

In some illustrative examples, utility system 138 may include multipleutility fixtures that are considered separate from flexiblemanufacturing system 106. Each of these multiple utility fixtures may beconfigured for use with flexible manufacturing system 106 and any numberof other flexible manufacturing systems.

Additionally, the different couplings of mobile systems in plurality ofmobile systems 134 may be performed autonomously in these illustrativeexamples. However, in other illustrative example, a coupling of one ofplurality of mobile systems 134 to another one of plurality of mobilesystems 134 may be performed manually in other illustrative examples.

Further, in other illustrative examples, one or more of plurality ofmobile systems 134 may be drivable by, for example, without limitation,a human operator. For example, without limitation, in some cases, firsttower 334 may be drivable with human guidance.

In some cases, fastener 438 may be installed using a single one ofplurality of mobile platforms 344 positioned at either exterior 234 orinterior 236 of fuselage assembly 114 without requiring any assistanceor coordination with another one of plurality of mobile platforms 344.For example, without limitation, a single one of number of externalmobile platforms 400 positioned relative to exterior 234 may be used toinstall fastener 438 without requiring coordination with a correspondingone of number of internal mobile platforms 402 positioned relative tointerior 236 of fuselage assembly 114. Depending on the implementation,coordination of this single external mobile platform with a humanoperator located within interior 236 of fuselage assembly 114 may or maynot be needed to fully install fastener 438.

As one illustrative example, one or more tools associated with first endeffector 410 associated with external robotic device 408 of externalmobile platform 404 may be used to install fastener 438 at exterior 234of fuselage assembly 114 without requiring the use of internal roboticdevice 416. In particular, second end effector 418 associated withinternal robotic device 416 may not need to be positioned withininterior 236 of fuselage assembly 114 in coordination of first endeffector 410 in order for fastener 438 to be installed.

In some cases, fastening process 424 that may be performed fully ateither exterior 234 or interior 236 of fuselage assembly 114 may bereferred to as a one-sided fastening process. Further, in some cases,the fasteners installed using this type of one-sided fastening processmay be referred to as one-sided fasteners.

Additionally, although metrology system 601 is described as includinglaser tracking system 135, radar system 137, and vision system 625,metrology system 601 may include any number of different types of sensordevices, measurement devices, probes, or other type of instruments.Further, metrology system 601 may be configured in any number ofdifferent ways with respect to flexible manufacturing system 106 andmanufacturing environment in FIG. 1. Metrology system 601 may beconfigured in any way that provides the desired level of precision ortolerance range for the various levels of positioning, including, butnot limited to, macro-positioning 656, meso-positioning 658, andmicro-positioning 660.

With reference now to FIG. 8, an illustration of an isometric view of amanufacturing environment is depicted in accordance with an illustrativeembodiment. In this illustrative example, manufacturing environment 800may be an example of one implementation for manufacturing environment100 in FIG. 1.

As depicted, manufacturing environment 800 may include holdingenvironment 801 and assembly environment 802. Holding environment 801may be a designated area on and over floor 803 of manufacturingenvironment 800 for storing plurality of flexible manufacturing systems806 when plurality of flexible manufacturing systems 806 are not in use.Each of plurality of flexible manufacturing systems 806 may be anexample of one implementation for flexible manufacturing system 106described in FIGS. 1 and 3-5. In particular, each of plurality offlexible manufacturing systems 806 may be an example of oneimplementation for autonomous flexible manufacturing system 112 in FIG.1.

Holding environment 801 may include plurality of holding cells 804. Inthis illustrative example, each of plurality of holding cells 804 may beconsidered an example of one implementation for holding area 318 in FIG.3. In other illustrative examples, the entire holding environment 801may be considered an example of one implementation for holding area 318in FIG. 3.

Each of plurality of flexible manufacturing systems 806 may be stored ina corresponding one of plurality of holding cells 804. In particular,each of plurality of holding cells 804 may be designated for a specificone of plurality of flexible manufacturing systems 806. However, inother illustrative examples, any one of plurality of holding cells 804may be used for storing any one of plurality of flexible manufacturingsystems 806.

As depicted, flexible manufacturing system 808 may be an example of oneof plurality of flexible manufacturing systems 806. Flexiblemanufacturing system 808 may include plurality of mobile systems 811,which may be an example of one implementation for plurality of mobilesystems 134 in FIGS. 1 and 3.

Flexible manufacturing system 808 may be stored in holding cell 810 ofplurality of holding cells 804. In this example, all of holdingenvironment 801 may be considered an example of one implementation forholding area 318 in FIG. 3. However, in other examples, each ofplurality of holding cells 804 in holding environment 801 may beconsidered an example of one implementation for holding area 318 in FIG.3.

Floor 803 of manufacturing environment 800 may be substantially smoothto allow the various components and systems of plurality of flexiblemanufacturing systems 806 to be autonomously driven across floor 803 ofmanufacturing environment 800 with ease. When one of plurality offlexible manufacturing systems 806 is ready for use, that flexiblemanufacturing system may be driven across floor 803 from holdingenvironment 801 into assembly environment 802.

Assembly environment 802 may be the designated area on and above floor803 for building fuselage assemblies. When none of plurality of flexiblemanufacturing systems 806 are in use, floor 803 of assembly environment802 may be kept substantially open and substantially clear.

As depicted, assembly environment 802 may include plurality of workcells 812. In one illustrative example, each of plurality of work cells812 may be an example of one implementation for assembly area 304 inFIG. 3. Thus, each of plurality of work cells 812 may be designated forperforming a fuselage assembly process, such as assembly process 110 inFIG. 1, for building fuselage assembly 114 in FIG. 1. In otherillustrative examples, the entire assembly environment 802 may beconsidered an example of one implementation for assembly area 304 inFIG. 3.

In this illustrative example, first portion 814 of plurality of workcells 812 may be designated for building forward fuselage assemblies,such as forward fuselage assembly 117 in FIG. 1, while second portion816 of plurality of work cells 812 may be designated for building aftfuselage assemblies, such as aft fuselage assembly 116 in FIG. 1. Inthis manner, plurality of work cells 812 may allow multiple fuselageassemblies to be built concurrently. Depending on the implementation,the building of these fuselage assemblies may begin at the same time orat different times in plurality of work cells 812.

In one illustrative example, plurality of mobile systems 811 that belongto flexible manufacturing system 808 may be driven across floor 803 fromholding cell 810 into work cell 813. Within work cell 813, plurality ofmobile systems 811 may be used to build a fuselage assembly (not shown).An example of one manner in which this fuselage assembly may be builtusing flexible manufacturing system 808 is described in greater detailin FIGS. 9-19 below.

In some illustrative examples, a sensor system may be associated withone or more of plurality of work cells 812. For example, withoutlimitation, in some cases, sensor system 818 may be associated with workcell 819 of plurality of work cells 812. Sensor data generated by sensorsystem 818 may be used to help drive the various mobile systems of thecorresponding one of plurality of flexible manufacturing systems 806designated for building a fuselage assembly within work cell 819. In oneillustrative example, sensor system 818 may take the form of metrologysystem 820.

Depending on the implementation, sensor system 818 may be optional. Forexample, without limitation, other sensor systems are not depictedassociated with other work cells of plurality of work cells 812. Notusing sensors systems such as sensor system 818 may help keep floor 803of manufacturing environment 800 more open and clear to help the variousmobile systems of plurality of flexible manufacturing systems 806 bedriven more freely across floor 803.

As depicted, plurality of utility fixtures 824 may be permanentlyaffixed to floor 803. Each of plurality of utility fixtures 824 may bean example of one implementation for utility fixture 150 in FIG. 1.

Plurality of utility fixtures 824 may be interfaced with a number ofutility sources (not shown in this view). These utility sources (notshown) may be, for example, without limitation, located beneath floor803. Utility fixture 826 may be an example of one of plurality ofutility fixtures 824.

In this illustrative example, each of plurality of utility fixtures 824is located in a corresponding one of plurality of work cells 812. Anyone of plurality of flexible manufacturing systems 806 may be driventowards and interfaced with any one of plurality of utility fixtures824. In this manner, plurality of utility fixtures 824 may be used toprovide one or more utilities to plurality of flexible manufacturingsystems 806.

Referring now to FIGS. 9-19, illustrations of the building of a fuselageassembly within manufacturing environment 800 from FIG. 8 are depictedin accordance with an illustrative embodiment. In FIGS. 9-19, flexiblemanufacturing system 808 from FIG. 8 may be used to build a fuselageassembly. The building of the fuselage assembly may be performed withinany one of plurality of work cells 812 in FIG. 8. For example, withoutlimitation, the building of the fuselage assembly may be performedwithin one of the work cells in second portion 816 of plurality of workcells 812 in FIG. 8.

Turning now to FIG. 9, an illustration of an isometric view of a firsttower coupled to utility fixture 826 from FIG. 8 is depicted inaccordance with an illustrative embodiment. In this illustrativeexample, first tower 900 may be coupled to utility fixture 826. Firsttower 900 may be an example of one of plurality of mobile systems 811 offlexible manufacturing system 808 in FIG. 8. In particular, first tower900 may be an example of one implementation for first tower 334 in FIG.3.

First tower 900 may be at least one of electrically and physicallycoupled to utility fixture 826 such that interface 902 is formed betweenfirst tower 900 and utility fixture 826. Interface 902 may be an exampleof one implementation for interface 342 in FIG. 3.

As depicted, first tower 900 may have base structure 904. Base structure904 may include top platform 906 and bottom platform 907. In some cases,top platform 906 and bottom platform 907 may be referred to as topplatform level and a bottom platform level, respectively. Top platform906 may be used to provide a human operator with access to a top floorof a fuselage assembly (not shown), such as a passenger floor inside thefuselage assembly. Bottom platform 907 may be used to provide a humanoperator with access to a bottom floor of the fuselage assembly (notshown), such as a cargo floor inside the fuselage assembly.

In this illustrative example, walkway 908 may provide access from afloor, such as floor 803 in FIG. 8, to bottom platform 907. Walkway 910may provide access from bottom platform 907 to top platform 906. Railing912 is associated with top platform 906 for the protection of a humanoperator moving around on top platform 906. Railing 914 is associatedwith bottom platform 907 for the protection of a human operator movingaround on bottom platform 907.

First tower 900 may be autonomously driven across floor 803 usingautonomous vehicle 916. Autonomous vehicle 916 may be an automatedguided vehicle (AGV) in this example. Autonomous vehicle 916 may be anexample of one of plurality of autonomous vehicles 306 in FIG. 3. Asdepicted, autonomous vehicle 916 may be used to drive first tower 900from holding environment 801 in FIG. 8 to selected tower position 918relative to utility fixture 826. Selected tower position 918 may be anexample of one implementation for selected tower position 338 in FIG. 3.

Once first tower 900 has been autonomously driven into selected towerposition 918, first tower 900 may autonomously couple to utility fixture826. In particular, first tower 900 may electrically and physicallycouple to utility fixture 826 autonomously to form interface 902. Thistype of coupling may enable a number of utilities to flow from utilityfixture 826 to first tower 900. In this manner, first tower 900 andutility fixture 826 may establish at least a portion of a distributedutility network, similar to distributed utility network 144 described inFIGS. 1 and 5.

With reference now to FIG. 10, an illustration of an isometric view of acradle system is depicted in accordance with an illustrative embodiment.In this illustrative example, cradle system 1000 may be an example ofone implementation for cradle system 308 in FIG. 3. Further, cradlesystem 1000 may be an example of one of plurality of mobile systems 811of flexible manufacturing system 808 in FIG. 8. In this manner, cradlesystem 1000 may be an example of one of plurality of mobile systems 811that are stored in holding cell 810 in FIG. 8.

As depicted, cradle system 1000 may be comprised of number of fixtures1003. Number of fixtures 1003 may be an example of one implementationfor number of fixtures 313 in FIG. 3. Number of fixtures 1003 mayinclude number of cradle fixtures 1002 and fixture 1004. Number ofcradle fixtures 1002 may be an example of one implementation for numberof cradle fixtures 314 in FIG. 3.

Number of cradle fixtures 1002 may include cradle fixture 1006, cradlefixture 1008, and cradle fixture 1010. Fixture 1004 may be fixedlyassociated with cradle fixture 1006. In this illustrative example,fixture 1004 may be considered part of cradle fixture 1006. However, inother illustrative examples, fixture 1004 may be considered a separatefixture from cradle fixture 1006.

As depicted, cradle fixture 1006, cradle fixture 1008, and cradlefixture 1010 have base 1012, base 1014, and base 1016, respectively.Number of retaining structures 1018 may be associated with base 1012.Number of retaining structures 1020 may be associated with base 1014.Number of retaining structures 1022 may be associated with base 1016.Each of number of retaining structures 1018, number of retainingstructures 1020, and number of retaining structures 1022 may be anexample of an implementation for number of retaining structures 326 inFIG. 3.

Each retaining structure in number of retaining structures 1018, numberof retaining structures 1020, and number of retaining structures 1022may have a curved shape that substantially matches a curvature of acorresponding fuselage section to be received by the retainingstructure. Retaining structure 1023 may be an example of one of numberof retaining structures 1020. As depicted, retaining structure 1023 mayhave curved shape 1025.

Curved shape 1025 may be selected such that curved shape 1025substantially matches a curvature of a corresponding keel panel (notshown) that is to be engaged with retaining structure 1023. Morespecifically, retaining structure 1023 may have a substantially sameradius of curvature as a corresponding keel panel (not shown) that is tobe engaged with retaining structure 1023.

In this illustrative example, plurality of stabilizing members 1024,plurality of stabilizing members 1026, and plurality of stabilizingmembers 1028 may be associated with base 1012, base 1014, and base 1016,respectively. Plurality of stabilizing members 1024, plurality ofstabilizing members 1026, and plurality of stabilizing members 1028 maybe used to stabilize base 1012, base 1014, and base 1016, respectively,relative to floor 803 of manufacturing environment 800.

In one illustrative example, these stabilizing members may keep theirrespective bases substantially level relative to floor 803. Further,each of plurality of stabilizing members 1024, plurality of stabilizingmembers 1026, and plurality of stabilizing members 1028 maysubstantially support their respective base until that base is to bemoved to a new location within or outside of manufacturing environment800. In one illustrative example, each stabilizing member of pluralityof stabilizing members 1024, plurality of stabilizing members 1026, andplurality of stabilizing members 1028 may be implemented using ahydraulic leg.

Each of number of fixtures 1003 may be used to support and hold acorresponding fuselage section (not shown) for a fuselage assembly (notshown) for an aircraft (not shown), such as one of plurality of fuselagesections 205 for fuselage assembly 114 for aircraft 104 in FIG. 2. Forexample, without limitation, fixture 1004 may have platform 1030associated with base 1032. Platform 1030 may be configured to supportand hold a forward fuselage section (not shown) or an aft fuselagesection (not shown) for the aircraft (not shown), depending on theimplementation. The forward fuselage section (not shown) may be theportion of the fuselage assembly (not shown) that is to be closest tothe nose of the aircraft (not shown). The aft fuselage section (notshown) may be the portion of the fuselage assembly (not shown) that isto be closest to the tail of the aircraft (not shown).

With reference now to FIG. 11, an illustration of an isometric view ofan assembly fixture formed using cradle system 1000 from FIG. 10 andcoupled to first tower 900 from FIG. 9 is depicted in accordance with anillustrative embodiment. In this illustrative example, cradle fixture1010 is coupled to first tower 900 and cradle fixture 1010, cradlefixture 1006, and cradle fixture 1008 are coupled to each other.

Cradle fixture 1010, cradle fixture 1008, and cradle fixture 1006 mayhave been autonomously driven across floor 803 of manufacturingenvironment 800 to selected cradle position 1100, selected cradleposition 1102, and selected cradle position 1104, respectively, using anumber of corresponding autonomous vehicles (not shown), such as numberof corresponding autonomous vehicles 316 from FIG. 3. Driving cradlefixture 1006 may also cause fixture 1004 to be driven when fixture 1004is part of cradle fixture 1006 as shown. Selected cradle position 1100,selected cradle position 1102, and selected cradle position 1104 may bean example of one implementation for number of selected cradle positions320 in FIG. 3.

After driving cradle fixture 1010, cradle fixture 1008, and cradlefixture 1006 to selected cradle position 1100, selected cradle position1102, and selected cradle position 1104, respectively, the number ofcorresponding autonomous vehicles (not shown) may be autonomously drivenaway. In other illustrative examples, the number of correspondingautonomous vehicles (not shown) may be integrated as part of cradlefixture 1010, cradle fixture 1008, and cradle fixture 1006.

Selected cradle position 1100 may be a position relative to selectedtower position 918 of first tower 900. When cradle fixture 1010 is inselected cradle position 1100 relative to first tower 900, cradlefixture 1010 may be electrically and physically coupled to first tower900 to form interface 1106. In some cases, cradle fixture 1010 may becoupled to first tower 900 autonomously to form interface 1106. In oneillustrative example, interface 1106 may be formed by autonomouslycoupling cradle fixture 1010 to first tower 900. Interface 1106 may bean electrical and physical interface that enables a number of utilitiesthat are flowing from utility fixture 826 to first tower 900 to alsoflow to cradle fixture 1010. In this manner, interface 1106 may beformed by autonomously coupling a number of utilities between cradlefixture 1010 and first tower 900. Interface 1106 may be an example ofone implementation for interface 340 in FIG. 3. In this illustrativeexample, cradle fixture 1010, being coupled to first tower 900, may bereferred to as primary cradle fixture 1111.

Further, as depicted, cradle fixture 1006, cradle fixture 1008, andcradle fixture 1010 may be coupled to each other. In particular, cradlefixture 1008 may be coupled to cradle fixture 1010 to form interface1108. Similarly, cradle fixture 1006 may be coupled to cradle fixture1008 to form interface 1110. In one illustrative example, both interface1108 and interface 1110 may be formed by autonomously coupling thesecradle fixtures to each other.

In particular, interface 1108 and interface 1110 may take the form ofelectrical and physical interfaces that enable the number of utilitiesto flow from cradle fixture 1010, to cradle fixture 1008, and to cradlefixture 1006. In this manner, interface 1108 may be formed byautonomously coupling the number of utilities between cradle fixture1010 and cradle fixture 1008 and interface 1110 may be formed byautonomously coupling the number of utilities between cradle fixture1008 and cradle fixture 1006. In this manner, number of utilities 146may be autonomously coupled between adjacent cradle fixtures in numberof cradle fixtures 314.

Thus, when utility fixture 826, first tower 900, cradle fixture 1010,cradle fixture 1008, and cradle fixture 1006 are all coupled in seriesas described above, the number of utilities may be distributeddownstream from utility fixture 826 to first tower 900, cradle fixture1010, cradle fixture 1008, and cradle fixture 1006. In this illustrativeexample, any utilities that flow to cradle fixture 1006 may also bedistributed to fixture 1004.

Any number of coupling units, structural members, connection devices,cables, other types of elements, or combination thereof may be used toform interface 1108 and interface 1110. Depending on the implementation,interface 1108 and interface 1110 may take the form of coupling unitsthat both physically and electrically connect cradle fixture 1010,cradle fixture 1008, and cradle fixture 1006 to each other. In otherillustrative examples, interface 1108 and interface 1110 may beimplemented in some other manner.

When cradle fixture 1010, cradle fixture 1008, and cradle fixture 1006are in selected cradle position 1100, selected cradle position 1102, andselected cradle position 1104, respectively, and coupled to each other,these cradle fixtures together form assembly fixture 1112. Assemblyfixture 1112 may be an example of one implementation for assemblyfixture 324 in FIG. 3. In this manner, interface 1106 between firsttower 900 and cradle fixture 1010 may also be considered an electricaland physical interface between first tower 900 and assembly fixture1112.

With reference now to FIG. 12, an illustration of an isometric view ofone stage in the assembly process for building a fuselage assembly thatis being supported by assembly fixture 1112 from FIG. 11 is depicted inaccordance with an illustrative embodiment. In this illustrativeexample, assembly fixture 1112 may support fuselage assembly 1200 asfuselage assembly 1200 is built on assembly fixture 1112.

Fuselage assembly 1200 may be an aft fuselage assembly that is anexample of one implementation for aft fuselage assembly 116 in FIG. 1.Fuselage assembly 1200 may be partially assembled in this illustrativeexample. Fuselage assembly 1200 may be at an early stage of assembly inthis example.

At this stage of the assembly process, fuselage assembly 1200 includesend panel 1201 and plurality of keel panels 1202. End panel 1201 mayhave a tapered cylindrical shape in this illustrative example. In thismanner, one portion of end panel 1201 may form part of the keel 1205 forfuselage assembly 1200, another portion of end panel 1201 may form partof the sides (not fully shown) for fuselage assembly 1200, and yetanother portion of end panel 1201 may form part of a crown (not fullyshown) for fuselage assembly 1200.

Further, as depicted, bulkhead 1203 may be associated with end panel1201. Bulkhead 1203 may be a pressure bulkhead. Bulkhead 1203 may be anexample of one implementation for bulkhead 272 in FIG. 2.

Plurality of keel panels 1202 include keel panel 1204, keel panel 1206,and keel panel 1208. End panel 1201 and plurality of keel panels 1202have been engaged with assembly fixture 1112. In particular, end panel1201 has been engaged with fixture 1004. Keel panel 1204, keel panel1206, and keel panel 1208 have been engaged with cradle fixture 1006,cradle fixture 1008, and cradle fixture 1010, respectively.

In one illustrative example, end panel 1201 is first engaged withfixture 1004 with keel panel 1204, keel panel 1206, and keel panel 1208then being successively engaged with cradle fixture 1006, cradlefixture, 1008, and cradle fixture 1010, respectively. In this manner,keel 1205 of fuselage assembly 1200 may be assembled in a direction fromthe aft end of fuselage assembly 1200 to the forward end of fuselageassembly 1200.

Each of cradle fixture 1006, cradle fixture 1008, and cradle fixture1010 may be at least one of autonomously or manually adjusted, asneeded, to accommodate plurality of keel panels 1202 such that fuselageassembly 1200 may be built to meet outer mold line requirements andinner mold line requirements within selected tolerances. In some cases,at least one of cradle fixture 1006, cradle fixture 1008, and cradlefixture 1010 may have at least one retaining structure that can beadjusted to adapt to the shifting of fuselage assembly 1200 during theassembly process due to increased loading as fuselage assembly 1200 isbuilt.

As depicted, members 1211 may be associated with end panel 1201 andplurality of keel panels 1202. Members 1211 may include frames andstringers in this illustrative example. However, depending on theimplementation, members 1211 may also include, without limitation,stiffeners, stanchions, intercostal structural members, connectingmembers, other types of structural members, or some combination thereof.The connecting members may include, for example, without limitation,shear clips, ties, splices, intercostal connecting members, other typesof mechanical connecting members, or some combination thereof.

The portion of members 1211 attached to end panel 1201 may form supportsection 1210. The portions of members 1211 attached to keel panel 1204,keel panel 1206, and keel panel 1208 may form support section 1212,support section 1214, and support section 1216, respectively.

In this illustrative example, end panel 1201 may form fuselage section1218 for fuselage assembly 1200. Each of keel panel 1204, keel panel1206, and keel panel 1208 may form a portion of fuselage section 1220,fuselage section 1222, and fuselage section 1224, respectively, forfuselage assembly 1200. Fuselage section 1218, fuselage section 1220,fuselage section 1222, and fuselage section 1224 may together formplurality of fuselage sections 1225 for fuselage assembly 1200. Each offuselage section 1218, fuselage section 1220, fuselage section 1222, andfuselage section 1224 may be an example of one implementation forfuselage section 207 in FIG. 2.

End panel 1201 and plurality of keel panels 1202 may be temporarilyconnected together using temporary fasteners such as, for example,without limitation, tack fasteners. In particular, end panel 1201 andplurality of keel panels 1202 may be temporarily connected to each otheras each of the panels is engaged with assembly fixture 1112 and otherpanels.

For example, without limitation, coordination holes (not shown) may bepresent at the edges of end panel 1201 and each of plurality of keelpanels 1202. In some cases, a coordination hole may pass through a paneland at least one of members 1211 associated with the panel. Engaging onepanel with another panel may include aligning these coordination holessuch that temporary fasteners, such as tack fasteners, may be installedin these coordination holes. In some cases, engaging one panel withanother panel may include aligning a coordination hole through one panelwith a coordination hole through one of members 1211 associated withanother panel.

In yet another illustrative example, engaging a first panel with anotherpanel may include aligning the edges of the two panels to form a buttsplice. These two panels may then be temporarily connected together byaligning a first number of coordination holes in, for example, a spliceplate, with a corresponding number of holes on the first panel andaligning a second number of coordination holes in that splice plate witha corresponding number of holes on the second panel. Temporary fastenersmay then be inserted through these aligned coordination holes totemporarily connect the first panel to the second panel.

In this manner, panels and members may be engaged with each other andtemporarily connected together in a number of different ways. Once endpanel 1201 and plurality of keel panels 1202 have been temporarilyconnected together, assembly fixture 1112 may help maintain the positionand orientation of end panel 1201 and each of plurality of keel panels1202 relative to each other.

Turning now to FIG. 13, an illustration of an isometric view of anotherstage in the assembly process for building a fuselage assembly isdepicted in accordance with an illustrative embodiment. In thisillustrative example, cargo floor 1300 has been added to fuselageassembly 1200. In particular, cargo floor 1300 may be associated withplurality of keel panels 1202.

As depicted, at least a portion of cargo floor 1300 may be substantiallylevel with bottom platform 907 of first tower 900. In particular, atleast the portion of cargo floor 1300 nearest first tower 900 may besubstantially aligned with bottom platform 907 of first tower 900. Inthis manner, a human operator (not shown) may use bottom platform 907 offirst tower 900 to easily walk onto cargo floor 1300 and access interior1301 of fuselage assembly 1200.

As depicted, first side panels 1302 and second side panels 1304 havebeen added to fuselage assembly 1200. First side panels 1302 and secondside panels 1304 may be an example of one implementation for first sidepanels 224 and second side panels 226, respectively, in FIG. 2. Firstside panels 1302, second side panels 1304, and a first and secondportion of end panel 1201 may form sides 1305 of fuselage assembly 1200.In this illustrative example, plurality of keel panels 1202, end panel1201, first side panels 1302, and second side panels 1304 may all betemporarily connected together using, for example, without limitation,tack fasteners.

First side panels 1302 may include side panel 1306, side panel 1308, andside panel 1310 that have been engaged with and temporarily connected tokeel panel 1204, keel panel 1206, and keel panel 1208, respectively.Similarly, second side panels 1304 may include side panel 1312, sidepanel 1314, and side panel 1316 that have been engaged with andtemporarily connected to keel panel 1204, keel panel 1206, and keelpanel 1208, respectively. Further, both side panel 1306 and side panel1312 have been engaged with end panel 1201.

As depicted, members 1318 may be associated with first side panels 1302.Other members (not shown) may be similarly associated with second sidepanels 1304. Members 1318 may be implemented in a manner similar tomembers 1211. In this illustrative example, corresponding portion 1320of members 1318 may be associated with side panel 1306. Correspondingportion 1320 of members 1318 may form support section 1322 associatedwith side panel 1306. Support section 1322 be an example of oneimplementation for support section 238 in FIG. 2.

With reference now to FIG. 14, an illustration of an isometric view ofanother stage in the assembly process for building a fuselage assemblyis depicted in accordance with an illustrative embodiment. In thisillustrative example, passenger floor 1400 has been added to fuselageassembly 1200. As depicted, passenger floor 1400 may be substantiallylevel with top platform 906 of first tower 900. Human operator 1402 mayuse top platform 906 of first tower 900 to walk onto passenger floor1400 and access interior 1301 of fuselage assembly 1200.

With reference now to FIG. 15, an illustration of an isometric view ofanother stage in the assembly process for building a fuselage assemblyis depicted in accordance with an illustrative embodiment. In thisillustrative example, plurality of crown panels 1500 have been added tofuselage assembly 1200. Plurality of crown panels 1500 may be an exampleof one implementation for crown panels 218 in FIG. 2.

In this illustrative example, plurality of crown panels 1500 may includecrown panel 1502, crown panel 1504, and crown panel 1506. These crownpanels along with a top portion of end panel 1201 may form crown 1507 offuselage assembly 1200. Crown panel 1502 may be engaged with andtemporarily connected to end panel 1201, side panel 1306 shown in FIG.13, side panel 1312, and crown panel 1504. Crown panel 1504 may beengaged with and temporarily connected to crown panel 1502, crown panel1506, side panel 1308 shown in FIG. 13, and side panel 1314. Further,crown panel 1506 may be engaged with and temporarily connected to crownpanel 1504, side panel 1310, and side panel 1316.

Together, end panel 1201, plurality of keel panels 1202, first sidepanels 1302, second side panels 1304, and plurality of crown panels 1500may form plurality of panels 1508 for fuselage assembly 1200. Pluralityof panels 1508 may be an example of one implementation for plurality ofpanels 120 in FIG. 1.

Plurality of panels 1508 may all be temporarily connected to each othersuch that desired compliance with outer mold line requirements and innermold line requirements may be maintained during the building of fuselageassembly 1200. In other words, temporarily connecting plurality ofpanels 1508 to each other may enable outer mold line requirements andinner mold line requirements to be met within selected tolerances duringthe building of fuselage assembly 1200 and, in particular, the joiningof plurality of panels 1508 together.

Members (not shown) may be associated with plurality of crown panels1500 in a manner similar to the manner in which members 1318 areassociated with first side panels 1302. These members associated withplurality of crown panels 1500 may be implemented in a manner similar tomembers 1318 and members 1211 as shown in FIGS. 13-14. The variousmembers associated with end panel 1201, plurality of keel panels 1202,plurality of crown panels 1500, first side panels 1302, and second sidepanels 1304 may form plurality of members 1510 for fuselage assembly1200. When plurality of panels 1508 are joined together, plurality ofmembers 1510 may form a support structure (not yet shown) for fuselageassembly 1200, similar to support structure 131 in FIG. 1.

After plurality of crown panels 1500 have been added to fuselageassembly 1200, first tower 900 may be autonomously decoupled fromassembly fixture 1112 and utility fixture 826. First tower 900 may thenbe autonomously driven away from utility fixture 826 using, for example,without limitation, autonomous vehicle 916 in FIG. 9. In oneillustrative example, first tower 900 may be autonomously driven back toholding environment 801 in FIG. 8.

When first tower 900 is decoupled from assembly fixture 1112 and utilityfixture 826, a gap is formed in the distributed utility network. Thisgap may be filled using a second tower (not shown), implemented in amanner similar to second tower 336 in FIG. 3.

With reference now to FIG. 16, an illustration of an isometric view of asecond tower coupled to utility fixture 826 and assembly fixture 1112supporting fuselage assembly 1200 from FIG. 15 is depicted in accordancewith an illustrative embodiment. In this illustrative example, secondtower 1600 has been positioned relative to assembly fixture 1112 andutility fixture 826. Second tower 1600 may be an example of oneimplementation for second tower 336 in FIG. 3.

Second tower 1600 may be autonomously driven across floor 803 using anautonomous vehicle (not shown), similar to autonomous vehicle 916 inFIG. 9. Second tower 1600 may be autonomously driven into selected towerposition 1618 relative to utility fixture 826. Selected tower position1618 may be an example of one implementation for selected tower position338 in FIG. 3. In this illustrative example, selected tower position1618 may be substantially the same as selected tower position 918 inFIG. 9.

Once second tower 1600 has been autonomously driven into selected towerposition 1618, second tower 1600 may autonomously couple to utilityfixture 826. In particular, second tower 1600 may electrically andphysically couple to utility fixture 826 autonomously to form interface1602. Interface 1602 may be another example of one implementation forinterface 342 in FIG. 3. This type of coupling may enable a number ofutilities to flow from utility fixture 826 to second tower 1600.

Further, second tower 1600 may autonomously couple to cradle fixture1010, thereby autonomously coupling to assembly fixture 1112, to forminterface 1605. Interface 1605 may enable the number of utilities toflow downstream from second tower 1600. In this manner, the number ofutilities may flow from second tower 1600 to cradle fixture 1010, tocradle fixture 1008, and then to cradle fixture 1006. In this manner,second tower 1600 may fill the gap in the distributed utility networkthat was created when first tower 900 in FIG. 15 was decoupled fromassembly fixture 1112 and utility fixture 826 and driven away.

Similar to first tower 900 in FIG. 9, second tower 1600 may include basestructure 1604, top platform 1606, and bottom platform 1607. However,top platform 1606 and bottom platform 1607 may be used to provideinternal mobile platforms with access to interior 1301 of fuselageassembly 1200 instead of human operators.

In this illustrative example, internal mobile platform 1608 may bepositioned on top platform 1606. Top platform 1606 may be substantiallyaligned with passenger floor 1400 such that internal mobile platform1608 may be able to autonomously drive across top platform 1606 ontopassenger floor 1400.

Similarly, an internal mobile platform (not shown in this view) may bepositioned on bottom platform 1607. Bottom platform 1607 may besubstantially aligned with cargo floor 1300 (not shown in this view)from FIG. 13 such that this other internal mobile platform (not shown inthis view) may be able to autonomously drive across bottom platform 1607onto the cargo floor. Internal mobile platform 1608 and the otherinternal mobile platform (not shown in this view) may be examples ofimplementations for internal mobile platform 406 in FIG. 4.

As depicted, internal robotic device 1610 and internal robotic device1612 may be associated with internal mobile platform 1608. Althoughinternal robotic device 1610 and internal robotic device 1612 are shownassociated with the same internal mobile platform 1608, in otherillustrative examples, internal robotic device 1610 may be associatedwith one internal mobile platform and internal robotic device 1612 maybe associated with another internal mobile platform. Each of internalrobotic device 1610 and internal robotic device 1612 may be an exampleof one implementation for internal robotic device 416 in FIG. 4.

Internal robotic device 1610 and internal robotic device 1612 may beused to perform operations within interior 1301 of fuselage assembly1200 for joining plurality of panels 1508. For example, withoutlimitation, internal robotic device 1610 and internal robotic device1612 may be used to perform fastening operations, such as rivetingoperations, within interior 1301 of fuselage assembly 1200.

In one illustrative example, utility box 1620 may be associated withbase structure 1604. Utility box 1620 may manage the number of utilitiesreceived from utility fixture 826 through interface 1602 and maydistribute these utilities into utility cables that are managed usingcable management system 1614 and cable management system 1616.

As depicted in this example, cable management system 1614 may beassociated with top platform 1606 and cable management system 1616 maybe associated with bottom platform 1607. Cable management system 1614and cable management system 1616 may be implemented similarly.

Cable management system 1614 may include cable wheels 1615 and cablemanagement system 1616 may include cable wheels 1617. Cable wheels 1615may be used to spool utility cables that are connected to internalmobile platform 1608. For example, without limitation, cable wheels 1615may be biased in some manner to substantially maintain a selected amountof tension in the utility cables. This biasing may be achieved using,for example, one or more spring mechanisms.

As internal mobile platform 1608 moves away from second tower 1600 alongpassenger floor 1400, the utility cables may extend from cable wheels1615 to maintain utility support to internal mobile platform 1608 andmanage the utility cables such that they do not become tangled. Cablewheels 1617 may be implemented in a manner similar to cable wheels 1615.

By using cable wheels 1615 to spool the utility cables, the utilitycables may be kept off of internal mobile platform 1608, therebyreducing the weight of internal mobile platform 1608 and the loadapplied by internal mobile platform 1608 to passenger floor 1400. Thenumber of utilities provided to internal mobile platform 1608 mayinclude, for example, without limitation, electricity, air, water,hydraulic fluid, communications, some other type of utility, or somecombination thereof.

With reference now to FIG. 17, an illustration of an isometric cutawayview of a plurality of mobile platforms performing fastening processeswithin interior 1301 of fuselage assembly 1200 is depicted in accordancewith an illustrative embodiment. In this illustrative example, pluralityof mobile platforms 1700 may be used to perform fastening processes tojoin plurality of panels 1508 together.

In particular, plurality of panels 1508 may be joined together atselected locations along fuselage assembly 1200. Plurality of panels1508 may be joined to form at least one of lap joints, butt joints, orother types of joints. In this manner, plurality of panels 1508 may bejoined such that at least one of circumferential attachment,longitudinal attachment, or some other type of attachment is createdbetween the various panels of plurality of panels 1508.

As depicted, plurality of mobile platforms 1700 may include internalmobile platform 1608 and internal mobile platform 1701. Internal mobileplatform 1608 and internal mobile platform 1701 may be an example of oneimplementation for number of internal mobile platforms 402 in FIG. 4.Internal mobile platform 1608 may be configured to move along passengerfloor 1400, while internal mobile platform 1701 may be configured tomove along cargo floor 1300.

As depicted, internal robotic device 1702 and internal robotic device1704 may be associated with internal mobile platform 1701. Each ofinternal robotic device 1702 and internal robotic device 1704 may be anexample of one implementation for internal robotic device 416 in FIG. 4.Internal robotic device 1702 and internal robotic device 1704 may besimilar to internal robotic device 1610 and internal robotic device1612.

Plurality of mobile platforms 1700 may also include external mobileplatform 1705 and external mobile platform 1707. External mobileplatform 1705 and external mobile platform 1707 may be an example of oneimplementation for at least a portion of number of external mobileplatforms 400 in FIG. 4. External mobile platform 1705 and externalmobile platform 1707 may be examples of implementations for externalmobile platform 404 in FIG. 4.

External robotic device 1706 may be associated with external mobileplatform 1705. External robotic device 1708 may be associated withexternal mobile platform 1707. Each of external robotic device 1706 andexternal robotic device 1708 may be an example of one implementation forexternal robotic device 408 in FIG. 4.

As depicted, external robotic device 1706 and internal robotic device1612 may work collaboratively to install fasteners autonomously infuselage assembly 1200. These fasteners may take the form of, forexample, without limitation, at least one of rivets, interference-fitbolts, non-interference-fit bolts, or other types of fasteners orfastener systems. Similarly, external robotic device 1708 and internalrobotic device 1704 may work collaboratively to install fastenersautonomously in fuselage assembly 1200. As one illustrative example, endeffector 1710 of internal robotic device 1612 and end effector 1712 ofexternal robotic device 1706 may be positioned relative to a samelocation 1720 on fuselage assembly 1200 to perform a fastening processat location 1720, such as fastening process 424 in FIG. 4.

The fastening process may include at least one of, for example, withoutlimitation, a drilling operation, a fastener insertion operation, afastener installation operation, an inspection operation, or some othertype of operation. The fastener installation operation may take the formof, for example, without limitation, two-stage riveting process 444described in FIG. 4, interference-fit bolt-type installation process 439described in FIG. 4, bolt-nut type installation process 433 described inFIG. 4, or some other type of fastener installation operation.

In this illustrative example, autonomous vehicle 1711 may be fixedlyassociated with external mobile platform 1705. Autonomous vehicle 1711may be used to drive external mobile platform 1705 autonomously. Forexample, autonomous vehicle 1711 may be used to autonomously driveexternal mobile platform 1705 across floor 803 of manufacturingenvironment 800 relative to assembly fixture 1112.

Similarly, autonomous vehicle 1713 may be fixedly associated withexternal mobile platform 1707. Autonomous vehicle 1713 may be used todrive external mobile platform 1707 autonomously. For example,autonomous vehicle 1713 may be used to autonomously drive externalmobile platform 1707 across floor 803 of manufacturing environment 800relative to assembly fixture 1112.

By being fixedly associated with external mobile platform 1705 andexternal mobile platform 1707, autonomous vehicle 1711 and autonomousvehicle 1713 may be considered integral to external mobile platform 1705and external mobile platform 1707, respectively. However, in otherillustrative examples, these autonomous vehicles may be independent ofthe external mobile platforms in other illustrative examples.

Once all fastening processes have been completed for fuselage assembly1200, internal mobile platform 1608 and internal mobile platform 1701may be autonomously driven across passenger floor 1400 back onto topplatform 1606 and bottom platform 1607, respectively, of second tower1600. Second tower 1600 may then be autonomously decoupled from bothutility fixture 826 and assembly fixture 1112. Autonomous vehicle 1714may then be used to autonomously drive or move second tower 1600 away.

In this illustrative example, building of fuselage assembly 1200 may nowbe considered completed for this stage in the overall assembly processfor the fuselage. Consequently, assembly fixture 1112 may beautonomously driven across floor 803 to move fuselage assembly 1200 tosome other location. In other illustrative examples, first tower 900from FIG. 9 may be autonomously driven back into selected tower position918 in FIG. 9 relative to utility fixture 826. First tower 900 from FIG.9 may then be autonomously recoupled to utility fixture 826 and assemblyfixture 1112. First tower 900 from FIG. 9 may enable a human operator(not shown) to access interior 1301 of fuselage assembly 1200 to performother operations including, but not limited to, at least one ofinspection operations, fastening operations, system installationoperations, or other types of operations. System installation operationsmay include operations for installing systems such as, for example,without limitation, at least one of a fuselage utility system, an airconditioning system, interior panels, electronic circuitry, some othertype of system, or some combination thereof.

With reference now to FIG. 18, an illustration of a cross-sectional viewof flexible manufacturing system 808 performing operations on fuselageassembly 1200 from FIG. 17 is depicted in accordance with anillustrative embodiment. In this illustrative example, a cross-sectionalview of fuselage assembly 1200 from FIG. 17 is depicted taken in thedirection of lines 18-18 in FIG. 17.

As depicted, internal mobile platform 1608 and internal mobile platform1701 are performing operations within interior 1301 of fuselage assembly1200. External mobile platform 1705 and external mobile platform 1707are performing assembly operations along exterior 1800 of fuselageassembly 1200.

In this illustrative example, external mobile platform 1705 may be usedto perform operations along portion 1802 of exterior 1800 between axis1804 and axis 1806 at first side 1810 of fuselage assembly 1200.External robotic device 1706 of external mobile platform 1705 may workcollaboratively with internal robotic device 1610 of internal mobileplatform 1608 to perform fastening processes.

Similarly, external mobile platform 1707 may be used to performoperations along portion 1808 of exterior 1800 of fuselage assembly 1200between axis 1804 and axis 1806 at second side 1812 of fuselage assembly1200. External robotic device 1708 of external mobile platform 1707 maywork collaboratively with internal robotic device 1704 of internalmobile platform 1701 to perform fastening processes.

Although external mobile platform 1705 is depicted as being located atfirst side 1810 of fuselage assembly 1200, external mobile platform 1705may be autonomously driven by autonomous vehicle 1711 to second side1812 of fuselage assembly 1200 to perform operations along portion 1811of exterior 1800 of fuselage assembly 1200 between axis 1804 and axis1806. Similarly, external mobile platform 1707 may be autonomouslydriven by autonomous vehicle 1713 to second side 1812 of fuselageassembly 1200 to perform operations along portion 1813 of exterior 1800of fuselage assembly 1200 between axis 1804 and axis 1806.

Although not shown in this illustrative example, an external mobileplatform similar to external mobile platform 1705 may have an externalrobotic device configured to work collaboratively with internal roboticdevice 1612 of internal mobile platform 1608 at second side 1812 offuselage assembly 1200. Similarly, an external mobile platform similarto external mobile platform 1707 may have an external robotic deviceconfigured to work collaboratively with internal robotic device 1702 ofinternal mobile platform 1701 at first side 1810 of fuselage assembly1200.

These four different external mobile platforms and two internal mobileplatforms may be controlled such that the operations performed byinternal mobile platform 1608 located on passenger floor 1400 may occurat a different location with respect to the longitudinal axis offuselage assembly 1200 than the operations performed by internal mobileplatform 1701 located on cargo floor 1300. The four external mobileplatforms may be controlled such that the two external mobile platformslocated on the same side of fuselage assembly 1200 do not collide orimpede one another. The two external mobile platforms located at thesame side of fuselage assembly 1200 may be unable to occupy the samefootprint in this illustrative example.

In this illustrative example, external mobile platform 1705 mayautonomously couple to assembly fixture 1112 to form interface 1822 suchthat a number of utilities may flow from assembly fixture 1112 toexternal mobile platform 1705. In other words, the number of utilitiesmay be autonomously coupled between external mobile platform 1705 andassembly fixture 1112 through interface 1822. In particular, externalmobile platform 1705 has been coupled to cradle fixture 1010 throughinterface 1822.

Similarly, external mobile platform 1707 may autonomously couple toassembly fixture 1112 to form interface 1824 such that a number ofutilities may flow from assembly fixture 1112 to external mobileplatform 1707. In other words, the number of utilities may beautonomously coupled between external mobile platform 1707 and assemblyfixture 1112 through interface 1824. In particular, external mobileplatform 1707 has been coupled to cradle fixture 1010 through interface1824.

As operations are performed along fuselage assembly 1200 by externalmobile platform 1705, external mobile platform 1707, and any otherexternal mobile platforms, these external mobile platforms may becoupled to and decoupled from assembly fixture 1112 as needed. Forexample, external mobile platform 1707 may decouple from cradle fixture1010 as external mobile platform 1707 moves aftward along fuselageassembly 1200 such that external mobile platform 1707 may thenautonomously couple to cradle fixture 1008 (not shown) from FIGS. 10-17.Further, these external mobile platforms may be coupled to and decoupledfrom assembly fixture 1112 to avoid collisions and prevent the externalmobile platforms from impeding each other during maneuvering of theexternal mobile platforms relative to assembly fixture 1112 and fuselageassembly 1200.

As depicted, autonomous vehicle 1814 is shown positioned under theassembly fixture 1112 formed by cradle system 1000. In this illustrativeexample, autonomous vehicle 1814, autonomous vehicle 1711, andautonomous vehicle 1713 may have omnidirectional wheels 1816,omnidirectional wheels 1818, and omnidirectional wheels 1820,respectively. In some illustrative examples, metrology system 1826 maybe used to help position external mobile platform 1705 and externalmobile platform 1707 relative to fuselage assembly 1200.

Turning now to FIG. 19, an illustration of an isometric view of a fullybuilt fuselage assembly is depicted in accordance with an illustrativeembodiment. In this illustrative example, fuselage assembly 1200 may beconsidered completed when plurality of panels 1508 have been fullyjoined.

In other words, all fasteners needed to join together plurality ofpanels 1508 have been fully installed. With plurality of panels 1508joined together, support structure 1900 may be fully formed. Supportstructure 1900 may be an example of one implementation for supportstructure 121 in FIG. 1. Fuselage assembly 1200, which is an aftfuselage assembly, may now be ready for attachment to a correspondingmiddle fuselage assembly (not shown) and forward fuselage assembly (notshown).

As depicted, autonomous vehicles (not shown in this view), similar toautonomous vehicle 1714 shown in FIG. 17, may be positioned under base1012 of cradle fixture 1006, base 1014 of cradle fixture 1008, and base1016 of cradle fixture 1010, respectively. Autonomous vehicles, such asnumber of corresponding autonomous vehicles 316 in FIG. 3, may lift upbase 1012, base 1014, and base 1016, respectively, such that pluralityof stabilizing members 1024, plurality of stabilizing members 1026, andplurality of stabilizing members 1028, respectively, no longer contactthe floor.

These autonomous vehicles (not shown) may then autonomously drive cradlesystem 1000 carrying fuselage assembly 1200 that has been fully builtaway from assembly environment 802 in FIG. 8 and, in some cases, awayfrom manufacturing environment 800 in FIG. 8. Computer-controlledmovement of these autonomous vehicles (not shown) may ensure that numberof cradle fixtures 1002 maintain their positions relative to each otheras fuselage assembly 1200 is being moved.

With reference now to FIG. 20, an illustration of an isometric view offuselage assemblies being built within manufacturing environment 800 isdepicted in accordance with an illustrative embodiment. In thisillustrative example, plurality of fuselage assemblies 2000 are beingbuilt within plurality of work cells 812 in manufacturing environment800.

Plurality of fuselage assemblies 2000 may include plurality of forwardfuselage assemblies 2001 being built in first portion 814 of pluralityof work cells 812 and plurality of aft fuselage assemblies 2002 beingbuilt in second portion 816 of plurality of work cells 812. Each ofplurality of fuselage assemblies 2000 may be an example of oneimplementation for fuselage assembly 114 in FIG. 1.

As depicted, plurality of fuselage assemblies 2000 are being builtconcurrently. However, plurality of fuselage assemblies 2000 are atdifferent stages of assembly in this illustrative example.

Forward fuselage assembly 2004 may be an example of one of plurality offorward fuselage assemblies 2001. Forward fuselage assembly 2004 may bean example of one implementation for forward fuselage assembly 117 inFIG. 1. Aft fuselage assembly 2005 may be an example of one of pluralityof aft fuselage assemblies 2002. Aft fuselage assembly 2005 may be anexample of one implementation for aft fuselage assembly 116 in FIG. 1.In this illustrative example, aft fuselage assembly 2005 may be at anearlier stage of assembly than forward fuselage assembly 2004.

Aft fuselage assembly 2006, which may be another example of animplementation for aft fuselage assembly 116 in FIG. 1, may be afuselage assembly with all panels joined. As depicted, aft fuselageassembly 2006 is being autonomously driven to some other location for anext stage in the overall fuselage and aircraft manufacturing process.

As described above, aft fuselage assembly 2005 may be partiallyassembled. In this illustrative example, aft fuselage assembly 2005 haskeel 2010, end panel 2011, and first side 2012. End panel 2011 may forman end fuselage section of aft fuselage assembly 2005. As depicted, sidepanel 2014 may be added to aft fuselage assembly 2005 to build a secondside of aft fuselage assembly 2005.

Forward fuselage assembly 2015 may be another example of one ofplurality of forward fuselage assemblies 2001. In this illustrativeexample, forward fuselage assembly 2015 has keel 2016 and end panel2018. End panel 2018 may form an end fuselage section of forwardfuselage assembly 2015. As depicted, side panel 2020 may be added toforward fuselage assembly 2015 to begin building a first side of forwardfuselage assembly 2015.

With reference now to FIG. 21, an illustration of an isometric view of alaser tracking system and a radar system associated with flexiblemanufacturing system 808 from FIGS. 16-17 is depicted in accordance withan illustrative embodiment. As depicted, in this illustrative example,laser tracking system 2100 may be associated with second tower 1600.Laser tracking system 2100 may be an example of one implementation forlaser tracking system 135 described in FIGS. 1, 6, and 7. Externalmobile platform 1705 from FIG. 16 is not shown for clarity.

In this illustrative example, laser tracking system 2100 may includelaser tracking device 2102, laser tracking device 2104, laser trackingdevice 2106, and laser tracking device 2108. Each of these lasertracking devices is associated with base structure 1604 of second tower1600. Laser tracking device 2102, laser tracking device 2104, lasertracking device 2106, and laser tracking device 2108 may be an exampleof one implementation for set of laser tracking devices 626 in FIG. 6.

As depicted, fuselage laser targets 2110 are associated with fuselageassembly 1200. In particular, fuselage laser targets 2110 are associatedwith support structure 1900 of fuselage assembly 1200. In otherillustrative examples, fuselage laser targets 2110 may also beassociated with plurality of panels 1508 of fuselage assembly 1200.

External platform laser targets 2112 may be associated with externalmobile platform 1707. Internal platform laser targets 2113 may beassociated with internal mobile platform 1608. Fuselage laser targets2110 may be an example of one implementation for fuselage laser targets628 in FIG. 6. External platform laser targets 2112 and internalplatform laser targets 2113 may each be an example of one implementationfor platform laser targets 630 in FIG. 6.

Laser target 2114 and laser target 2116 may be examples of laser targetsincluded in external platform laser targets 2112. Laser target 2118 andlaser target 2120 may be examples of laser targets included in internalplatform laser targets 2113.

In this illustrative example, laser tracking device 2102 may be used toscan for and detect laser targets of internal platform laser targets2113 and of fuselage laser targets 2110. Laser tracking device 2102 maybe capable of measuring a distance between laser tracking device 2102and a particular laser target within selected tolerances. In particular,laser tracking device 2102 may be capable of precisely measuring thisdistance. Laser tracking device 2108 may be similarly used to scan anddetect laser targets associated with internal mobile platform 1701 (notshown) in FIG. 17.

Laser tracking device 2104 and laser tracking device 2106 may be used toscan for and detect laser targets near sides 1305 of fuselage assembly1200. For example, without limitation, laser tracking device 2106 may beused to scan and detect laser targets of external platform laser targets2112 located on external mobile platform 1707. Laser tracking device2106 may be capable of measuring a distance between laser trackingdevice 2106 and one of external platform laser targets 2112 withinselected tolerances. In other words, laser tracking device 2106 may becapable of precisely measuring this distance.

Further, in this illustrative example, radar system 2122 may beassociated with external mobile platform 1707 and assembly fixture 1112.Radar system 2122 may be an example of one implementation for radarsystem 137 described in FIGS. 1 and 6. Radar system 2122 may include setof radar sensors 2124 associated with external mobile platform 1707 andplurality of radar targets 2126 associated with assembly fixture 1112.

Set of radar sensors 2124 may include one or more radar sensorsassociated with autonomous vehicle 1713 that is fixedly associated withbase 2132 of external mobile platform 1707. Set of radar sensors 2124may be used to scan for and detect radar targets, such as radar target2128 and radar target 2130 of plurality of radar targets 2126. Forexample, without limitation, autonomous vehicle 1713 may use thedetection of (radar target 2130 to macro-position base 2132 of externalmobile platform 1707, and thereby, a tool (not shown) associated withexternal robotic device 1708 relative to fuselage assembly 1200.

With reference now to FIG. 22, an illustration of an isometric cutawayview of fuselage assembly 1200 with laser tracking system 2100 from FIG.21 associated with internal mobile platform 1701 from FIG. 17 isdepicted in accordance with an illustrative embodiment. In thisillustrative example, a portion of base structure 1604 along topplatform 1606 is not shown such that internal mobile platform 1701positioned inside fuselage assembly 1200 may be more clearly seen.

In this illustrative example, internal platform laser targets 2200 maybe associated with internal mobile platform 1701 from FIG. 17. Internalplatform laser targets 2200 may be another example of one implementationfor platform laser targets 630 in FIG. 6. Laser target 2202 and lasertarget 2204 may be examples of laser targets included in internalplatform laser targets 2200. Laser target 2206 may be an example of alaser target included in fuselage laser targets 2110 in FIG. 21.

With reference now to FIG. 23, an illustration of an isometric view oflaser tracking system 2100 from FIG. 21 associated with external mobileplatform 1705 from FIG. 17 is depicted in accordance with anillustrative embodiment. In this illustrative example, external platformlaser targets 2300 may be associated with external mobile platform 1705.External mobile platform 1707 from FIG. 16 is not shown in this figurefor clarity.

As depicted, external mobile platform 1705 may include base 2301,supporting structure 2302, and external robotic device 1706 associatedwith supporting structure 2302. External robotic device 1706 may bevertically movable along track system 2304 associated with supportingstructure 2302. External platform laser targets 2300 may be associatedwith at least one of base 2301, supporting structure 2302, and externalrobotic device 1706.

Further, set of radar sensors 2306 may be associated with autonomousvehicle 1711 fixedly associated with base 2301 of external mobileplatform 1705. Autonomous vehicle 1711 may use the detection of radartarget 2130 to macro-position base 2301 of external mobile platform1705, and thereby tool 2308 associated with external robotic device 1706relative to exterior 1800 of fuselage assembly 1200.

With reference now to FIG. 24, an illustration of a portion ofautonomous vehicle 1711 from FIG. 23 is depicted in accordance with anillustrative embodiment. In this illustrative example, autonomousvehicle 1711 is depicted taken in the direction of lines 24-24 in FIG.23. As depicted, set of radar sensors 2306 associated with autonomousvehicle 1711 may include radar sensor 2400 and radar sensor 2402.

The illustrations in FIGS. 8-24 are not meant to imply physical orarchitectural limitations to the manner in which an illustrativeembodiment may be implemented. Other components in addition to or inplace of the ones illustrated may be used. Some components may beoptional.

The different components shown in FIGS. 8-24 may be illustrativeexamples of how components shown in block form in FIG. 1-7 can beimplemented as physical structures. Additionally, some of the componentsin FIGS. 8-24 may be combined with components in FIG. 1-7, used withcomponents in FIG. 1-7, or a combination of the two.

With reference now to FIG. 25, an illustration of a process forpositioning an end effector relative to a fuselage assembly is depictedin the form of a flowchart in accordance with an illustrativeembodiment. The process illustrated in FIG. 25 may be performed using,for example, without limitation, control system 136 and metrology system601 described in FIGS. 6 and 7.

The process may include positioning base 608 of mobile platform 606relative to fuselage assembly 114 (operation 2500). Configuration 710 offuselage assembly 114 may be determined (operation 2502). Operation 2502may be performed using, for example, without limitation, laser trackingsystem 135.

The process may further include determining current position 718 of endeffector 602 relative to configuration 710 of fuselage assembly 114(operation 2504). Then, end effector 602 may be positioned relative tofuselage assembly 114 based on configuration 710 determined for fuselageassembly 114 (operation 2506). In particular, in operation 2506, endeffector 602 may be moved from current position 718 identified inoperation 2504 to another position relative to configuration 710 offuselage assembly 114. This other position may be relative to, forexample, without limitation, expected reference location 725 forreference point 642 on fuselage assembly 114. Expected referencelocation 725 may be identified based on configuration 710 determined forfuselage assembly 114.

Thereafter, set of actual reference locations 738 for set of referencepoints 640 on fuselage assembly 114 may be identified (operation 2508).End effector 602 may then be positioned at an operation location basedon set of actual reference locations 738 identified (operation 2510),with the process terminating thereafter. In operation 2510, theoperation location may be one of set of operation locations 750 computedbased on set of actual reference locations 738.

With reference now to FIG. 26, an illustration of a process forpositioning an end effector is depicted in the form of a flowchart inaccordance with an illustrative embodiment. The process illustrated inFIG. 26 may be implemented using control system 136 and metrology system601 described in FIGS. 6 and 7.

The process may begin by macro-positioning end effector 602 relative tofuselage assembly 114 (operation 2600). Next, set of expected referencelocations 722 may be computed for set of reference points 640 onfuselage assembly 114 (operation 2602). End effector 602 may then bemeso-positioned relative to each of set of expected reference locations722 for set of reference points 640 on fuselage assembly 114 (operation2604). Set of actual reference locations 738 may be computed for set ofreference points 640 (operation 2606). End effector 602 may then bemicro-positioned relative to each of set of operation locations 750 onfuselage assembly 114 based on set of actual reference locations 738computed (operation 2608), with the process terminating thereafter.

With reference now to FIG. 27, an illustration of a process forpositioning two end effectors relative to an operation location on afuselage assembly is depicted in the form of a flowchart in accordancewith an illustrative embodiment. The process illustrated in FIG. 27 maybe implemented using control system 136 and metrology system 601described in FIGS. 6 and 7.

The process may include macro-positioning first end effector 410associated with external mobile platform 404 relative to exterior 234 offuselage assembly 114 (operation 2700). Performing operation 2700 mayinclude driving a base of external mobile platform 404 across floor 300into a position relative to assembly fixture 324 supporting fuselageassembly 114. In some cases, operation 2700 may also include moving arobotic base associated with external robotic device 408 of externalmobile platform 404 relative to a supporting structure attached to thebase of external mobile platform 404.

Second end effector 418 associated with internal mobile platform 406 maybe macro-positioned relative to interior 236 of fuselage assembly 114(operation 2702). Performing operation 2702 may include driving a baseof internal mobile platform 406 across one of number of floors 266inside fuselage assembly 114. For example, the base of internal mobileplatform 406 may be driven across a passenger floor, cargo floor, orsome other type of floor inside fuselage assembly 114.

Next, configuration 710 of fuselage assembly 114 may be determined usinglaser measurement data 708 generated by set of laser tracking devices626 (operation 2704). Then, first end effector 410 associated withexternal mobile platform 404 may be meso-positioned relative to each ofset of external expected reference locations 724 for a set of exteriorreference points based on configuration 710 of fuselage assembly 114(operation 2706). Second end effector 418 associated with internalmobile platform 406 may be meso-positioned relative to each of set ofinternal expected reference locations 726 for a set of interiorreference points based on configuration 710 of fuselage assembly 114(operation 2708).

Thereafter, set of actual exterior reference locations 742 may becomputed for the set of exterior reference points and set of actualinterior reference locations 744 may be computed for the set of interiorreference points (operation 2710). Set of exterior operation locations752 may be computed based on set of actual exterior reference locations742 for the set of exterior reference points and set of interioroperation locations 754 may be computed based on set of actual interiorreference locations 744 for the set of interior reference points(operation 2712). Set of exterior operation locations 752 may match setof interior operation locations 754 within selected tolerances.

First end effector 410 may be micro-positioned at each of set ofexterior operation locations 752 and second end effector 418 may bemicro-positioned at each of set of interior operation locations 754 in acoordinated and synchronized manner (operation 2714), with the processterminating thereafter. In these illustrative examples, themicro-positioning of first end effector 410 at a particular exterioroperation location and the micro-positioning of second end effector 418at a corresponding interior operation location may be performed in acoordinated manner such that an assembly operation may be performed.

The particular exterior location and the corresponding interior locationmay be substantially the same such that the assembly operation may beconsidered as being formed at a final operation location on fuselageassembly 114. The assembly operation may be performed at this finaloperation location using at least one tool associated with first endeffector 410 and at least one tool associated with second end effector418. In one illustrative example, the assembly operation may befastening process 424 in FIG. 4.

With reference now to FIG. 28, an illustration of a process forpositioning an end effector relative to a fuselage assembly is depictedin the form of a flowchart in accordance with an illustrativeembodiment. The process illustrated in FIG. 28 may be implemented usingcontrol system 136 and metrology system 601 described in FIGS. 6 and 7.

The process may begin by macro-positioning end effector 602 relative tofuselage assembly 114 (operation 2800). Next, configuration 710 offuselage assembly 114 may be determined using laser measurement data 708generated by laser tracking system 135 (operation 2802). Currentposition 718 of end effector 602 relative to configuration 710 offuselage assembly 114 may be identified (operation 2804).

A first expected reference location for first reference point 644 and asecond expected reference location for second reference point 646 may becomputed based on configuration 710 of fuselage assembly 114 (operation2806). End effector 602 may then be meso-positioned relative to thefirst expected reference location (operation 2808). For example, withoutlimitation, in operation 2808, end effector 602 may be moved fromcurrent position 718 of end effector 602 to a position relative to thefirst expected reference location.

Next, imaging data 736 of first reference point 644 may be generatedwith end effector 602 positioned relative to the first expectedreference location (operation 2810). A first actual reference locationof first reference point 644 may be computed based on imaging data 736(operation 2812).

End effector 602 may then be meso-positioned relative to the secondexpected reference location (operation 2814). Imaging data 736 of secondreference point 646 may be generated with end effector 602 positioned atthe second expected reference location (operation 2816). A second actualreference location of second reference point 646 may be computed basedon imaging data 736 (operation 2818).

Thereafter, set of operation locations 750 may be computed based on thefirst actual reference location and the second actual reference location(operation 2820). End effector 602 may then be micro-positioned relativeto each of set of operation locations 502 such that fastening process424 may be performed at each of set of operation locations 750 using atleast one tool associated with end effector 602 (operation 2822), withthe process terminating thereafter.

The flowcharts and block diagrams in the different depicted embodimentsillustrate the architecture, functionality, and operation of somepossible implementations of apparatuses and methods in an illustrativeembodiment. In this regard, each block in the flowcharts or blockdiagrams may represent a module, a segment, a function, a portion of anoperation or step, some combination thereof.

In some alternative implementations of an illustrative embodiment, thefunction or functions noted in the blocks may occur out of the ordernoted in the figures. For example, in some cases, two blocks shown insuccession may be executed substantially concurrently, or the blocks maysometimes be performed in the reverse order, depending upon thefunctionality involved. Also, other blocks may be added in addition tothe illustrated blocks in a flowchart or block diagram.

Turning now to FIG. 29, an illustration of a data processing system isdepicted in the form of a block diagram in accordance with anillustrative embodiment. Data processing system 2900 may be used toimplement any of the controllers described above, including controlsystem 136 in FIG. 1. In some illustrative examples, data processingsystem 2900 may be used to implement at least one of a controller in setof controllers 140 in FIG. 1.

As depicted, data processing system 2900 includes communicationsframework 2902, which provides communications between processor unit2904, storage devices 2906, communications unit 2908, input/output unit2910, and display 2912. In some cases, communications framework 2902 maybe implemented as a bus system.

Processor unit 2904 is configured to execute instructions for softwareto perform a number of operations. Processor unit 2904 may comprise atleast one of a number of processors, a multi-processor core, or someother type of processor, depending on the implementation. In some cases,processor unit 2904 may take the form of a hardware unit, such as acircuit system, an application specific integrated circuit (ASIC), aprogrammable logic device, or some other suitable type of hardware unit.

Instructions for the operating system, applications and programs run byprocessor unit 2904 may be located in storage devices 2906. Storagedevices 2906 may be in communication with processor unit 2904 throughcommunications framework 2902. As used herein, a storage device, alsoreferred to as a computer readable storage device, is any piece ofhardware capable of storing information on a temporary basis, apermanent basis, or both. This information may include, but is notlimited to, data, program code, other information, or some combinationthereof.

Memory 2914 and persistent storage 2916 are examples of storage devices2906. Memory 2914 may take the form of, for example, a random accessmemory or some type of volatile or non-volatile storage device.Persistent storage 2916 may comprise any number of components ordevices. For example, persistent storage 2916 may comprise a hard drive,a flash memory, a rewritable optical disk, a rewritable magnetic tape,or some combination of the above. The media used by persistent storage2916 may or may not be removable.

Communications unit 2908 allows data processing system 2900 tocommunicate with other data processing systems, devices, or both.Communications unit 2908 may provide communications using physicalcommunications links, wireless communications links, or both.

Input/output unit 2910 allows input to be received from and output to besent to other devices connected to data processing system 2900. Forexample, input/output unit 2910 may allow user input to be receivedthrough a keyboard, a mouse, some other type of input device, or acombination thereof. As another example, input/output unit 2910 mayallow output to be sent to a printer connected to data processing system2900.

Display 2912 is configured to display information to a user. Display2912 may comprise, for example, without limitation, a monitor, a touchscreen, a laser display, a holographic display, a virtual displaydevice, some other type of display device, or a combination thereof.

In this illustrative example, the processes of the differentillustrative embodiments may be performed by processor unit 2904 usingcomputer-implemented instructions. These instructions may be referred toas program code, computer usable program code, or computer readableprogram code and may be read and executed by one or more processors inprocessor unit 2904.

In these examples, program code 2918 is located in a functional form oncomputer readable media 2920, which is selectively removable, and may beloaded onto or transferred to data processing system 2900 for executionby processor unit 2904. Program code 2918 and computer readable media2920 together form computer program product 2922. In this illustrativeexample, computer readable media 2920 may be computer readable storagemedia 2924 or computer readable signal media 2926.

Computer readable storage media 2924 is a physical or tangible storagedevice used to store program code 2918 rather than a medium thatpropagates or transmits program code 2918. Computer readable storagemedia 2924 may be, for example, without limitation, an optical ormagnetic disk or a persistent storage device that is connected to dataprocessing system 2900.

Alternatively, program code 2918 may be transferred to data processingsystem 2900 using computer readable signal media 2926. Computer readablesignal media 2926 may be, for example, a propagated data signalcontaining program code 2918. This data signal may be an electromagneticsignal, an optical signal, or some other type of signal that can betransmitted over physical communications links, wireless communicationslinks, or both.

The illustration of data processing system 2900 in FIG. 29 is not meantto provide architectural limitations to the manner in which theillustrative embodiments may be implemented. The different illustrativeembodiments may be implemented in a data processing system that includescomponents in addition to or in place of those illustrated for dataprocessing system 2900. Further, components shown in FIG. 29 may bevaried from the illustrative examples shown.

The illustrative embodiments of the disclosure may be described in thecontext of aircraft manufacturing and service method 3000 as shown inFIG. 30 and aircraft 3100 as shown in FIG. 31. Turning first to FIG. 30,an illustration of an aircraft manufacturing and service method isdepicted in the form of a block diagram in accordance with anillustrative embodiment. During pre-production, aircraft manufacturingand service method 3000 may include specification and design 3002 ofaircraft 3100 in FIG. 31 and material procurement 3004.

During production, component and subassembly manufacturing 3006 andsystem integration 3008 of aircraft 3100 in FIG. 31 takes place.Thereafter, aircraft 3100 in FIG. 31 may go through certification anddelivery 3010 in order to be placed in service 3012. While in service3012 by a customer, aircraft 3100 in FIG. 31 is scheduled for routinemaintenance and service 3014, which may include modification,reconfiguration, refurbishment, and other maintenance or service.

Each of the processes of aircraft manufacturing and service method 3000may be performed or carried out by at least one of a system integrator,a third party, or an operator. In these examples, the operator may be acustomer. For the purposes of this description, a system integrator mayinclude, without limitation, any number of aircraft manufacturers andmajor-system subcontractors; a third party may include, withoutlimitation, any number of vendors, subcontractors, and suppliers; and anoperator may be an airline, a leasing company, a military entity, aservice organization, and so on.

With reference now to FIG. 31, an illustration of an aircraft isdepicted in the form of a block diagram in which an illustrativeembodiment may be implemented. In this example, aircraft 3100 isproduced by aircraft manufacturing and service method 3000 in FIG. 30and may include airframe 3102 with plurality of systems 3104 andinterior 3106. Examples of systems 3104 include one or more ofpropulsion system 3108, electrical system 3110, hydraulic system 3112,and environmental system 3114. Any number of other systems may beincluded. Although an aerospace example is shown, different illustrativeembodiments may be applied to other industries, such as the automotiveindustry.

Apparatuses and methods embodied herein may be employed during at leastone of the stages of aircraft manufacturing and service method 3000 inFIG. 30. In particular, flexible manufacturing system 106 from FIG. 1may be used to build at least a portion of airframe 3102 of aircraft3100 during any one of the stages of aircraft manufacturing and servicemethod 3000. For example, without limitation, flexible manufacturingsystem 106 from FIG. 1 may be used during at least one of component andsubassembly manufacturing 3006, system integration 3008, or some otherstage of aircraft manufacturing and service method 3000 to form afuselage for aircraft 3100.

In one illustrative example, components or subassemblies produced incomponent and subassembly manufacturing 3006 in FIG. 30 may befabricated or manufactured in a manner similar to components orsubassemblies produced while aircraft 3100 is in service 3012 in FIG.30. As yet another example, one or more apparatus embodiments, methodembodiments, or a combination thereof may be utilized during productionstages, such as component and subassembly manufacturing 3006 and systemintegration 3008 in FIG. 30. One or more apparatus embodiments, methodembodiments, or a combination thereof may be utilized while aircraft3100 is in service 3012, during maintenance and service 3014 in FIG. 30,or both. The use of a number of the different illustrative embodimentsmay substantially expedite the assembly of and reduce the cost ofaircraft 3100.

The description of the different illustrative embodiments has beenpresented for purposes of illustration and description, and is notintended to be exhaustive or limited to the embodiments in the formdisclosed. Many modifications and variations will be apparent to thoseof ordinary skill in the art. Further, different illustrativeembodiments may provide different features as compared to otherdesirable embodiments. The embodiment or embodiments selected are chosenand described in order to best explain the principles of theembodiments, the practical application, and to enable others of ordinaryskill in the art to understand the disclosure for various embodimentswith various modifications as are suited to the particular usecontemplated.

What is claimed is:
 1. A method for positioning an end effector relativeto a fuselage assembly, the method comprising: determining aconfiguration of the fuselage assembly; positioning the end effectorrelative to the fuselage assembly based on the configuration determined;identifying a set of actual reference locations for a set of referencepoints on the fuselage assembly; and positioning the end effector at anoperation location based on the set of actual reference locationsidentified.
 2. The method of claim 1, wherein positioning the endeffector relative to the fuselage assembly comprises: meso-positioningthe end effector relative to the fuselage assembly.
 3. The method ofclaim 1 further comprising: determining a current position of the endeffector relative to the configuration of the fuselage assembly.
 4. Themethod of claim 1, wherein determining the configuration comprises:identifying fuselage target locations for fuselage laser targetsassociated with the fuselage assembly.
 5. The method of claim 4, whereinidentifying the fuselage target locations comprises: receiving lasermeasurement data from a set of laser tracking devices; and identifyingthe fuselage target locations for the fuselage laser targets using thelaser measurement data.
 6. The method of claim 3 further comprising:identifying a set of expected reference locations for the set ofreference points based on the configuration of the fuselage assembly. 7.The method of claim 6, wherein positioning the end effector relative tothe fuselage assembly comprises: positioning the end effector relativeto one of the set of expected reference locations.
 8. The method ofclaim 1, wherein identifying the set of actual reference locations forthe set of reference points comprises: generating imaging data of areference point of the set of reference points; and computing an actualreference location for the reference point based on the imaging data. 9.The method of claim 8, wherein generating the imaging data comprises:generating the imaging data using an imaging system while the endeffector is positioned relative to an expected reference location forthe reference point.
 10. The method of claim 1 further comprising:computing the operation location based on the set of actual referencelocations identified.
 11. The method of claim 1, wherein positioning theend effector at the operation location comprises: micro-positioning theend effector at the operation location.
 12. The method of claim 1,wherein positioning the end effector relative to the fuselage assemblycomprises: meso-positioning the end effector relative to an expectedreference location for a reference point.
 13. The method of claim 1further comprising: macro-positioning the end effector relative to thefuselage assembly.
 14. The method of claim 13, wherein macro-positioningthe end effector comprises: macro-positioning a base of a mobileplatform with which the end effector is associated relative to thefuselage assembly.
 15. The method of claim 1 further comprising: drivinga base of a mobile platform with which the end effector is associatedautonomously into a position relative to one of an interior and anexterior of the fuselage assembly.
 16. The method of claim 1 furthercomprising: driving a base of a mobile platform with which the endeffector is associated using a platform movement system associated withthe base based on radar data received from a set of radar sensorsassociated with at least one of the platform movement system or thebase.
 17. The method of claim 1 further comprising: driving a base of amobile platform with which the end effector is associated inside thefuselage assembly.
 18. The method of claim 17, wherein driving the basecomprises: driving the base of the mobile platform across a floor withinan interior of the fuselage assembly.
 19. The method of claim 17,wherein driving the base comprises: driving the base of the mobileplatform from a home position on a tower onto a floor inside thefuselage assembly.
 20. The method of claim 1, wherein positioning theend effector relative to the fuselage assembly comprises: moving the endeffector from a current position to a position relative to an expectedreference location for a reference point of the set of reference points.21. The method of claim 1, wherein positioning the end effector relativeto the fuselage assembly comprises: moving the end effector from adefault position with respect to a base of a mobile platform with whichthe end effector is associated to a position relative to an expectedreference location for a reference point of the set of reference points.22. The method of claim 1 further comprising: detecting at least threeof fuselage laser targets associated with the fuselage assembly; andidentifying fuselage target locations for the fuselage laser targetsbased on detecting the at least three of the fuselage laser targets. 23.The method of claim 22, wherein determining the configuration comprises:determining the configuration of the fuselage assembly based on thefuselage target locations identified.
 24. The method of claim 1, whereinpositioning the end effector relative to the operation locationcomprises: micro-positioning a tool center point located at an end ofthe end effector relative to the operation location.
 25. The method ofclaim 1, wherein positioning the end effector relative to the fuselageassembly comprises: meso-positioning the end effector relative to eachof a set of expected reference locations for the set of reference pointson the fuselage assembly.
 26. The method of claim 25, whereinidentifying the set of actual reference locations comprises: generatingimaging data for a reference point of the set of reference points whenthe end effector is positioned relative to the reference point; andcomputing the set of actual reference locations for the set of referencepoints using the imaging data.
 27. The method of claim 25, whereinpositioning the end effector relative to the operation locationcomprises: computing the operation location based on the set of actualreference locations for the set of reference points; and positioning theend effector relative to the operation location.
 28. The method of claim1 further comprising: performing an assembly operation at the operationlocation using a number of tools associated with the end effector. 29.The method of claim 1 further comprising: performing a fastening processat the operation location on the fuselage assembly using a number oftools associated with the end effector.
 30. A method for positioning anend effector, the method comprising: macro-positioning the end effectorrelative to a fuselage assembly; meso-positioning the end effectorrelative to the fuselage assembly; computing a set of actual referencelocations for a set of reference points on the fuselage assembly; andmicro-positioning the end effector relative to each of a set ofoperation locations on the fuselage assembly based on the set of actualreference locations computed.
 31. The method of claim 30, whereinmeso-positioning the end effector comprises: meso-positioning the endeffector relative to each of a set of expected reference locations forthe set of reference points on the fuselage assembly.
 32. The method ofclaim 30 further comprising: determining a configuration of the fuselageassembly.
 33. The method of claim 32 further comprising: identifying aset of expected reference locations for the set of reference points onthe fuselage assembly based on the configuration of the fuselageassembly.
 34. The method of claim 33, wherein meso-positioning the endeffector comprises: positioning the end effector relative to an expectedreference location of the set of expected reference locations for areference fastener of the set of reference points.
 35. An apparatuscomprising: a laser tracking system comprising a set of laser trackingdevices, fuselage laser targets associated with a fuselage assembly, andplatform laser targets associated with a mobile platform; and a controlsystem that controls positioning of an end effector relative to thefuselage assembly based on laser measurement data generated by the setof laser tracking devices.
 36. The apparatus of claim 35, wherein theplatform laser targets comprises external platform laser targets locatedon an external mobile platform.
 37. The apparatus of claim 36, whereinthe platform laser targets comprises internal platform laser targetslocated on an internal mobile platform.
 38. The apparatus of claim 35,wherein each of the fuselage laser targets is associated with one of apanel and a member of the fuselage assembly.
 39. The apparatus of claim35, wherein the control system controls macro-positioning of the endeffector, meso-positioning of the end effector, and micro-positioning ofthe end effector.
 40. The apparatus of claim 35, wherein the set oflaser tracking devices is associated with a tower.
 41. The apparatus ofclaim 40, wherein the control system comprises: a set of controllers,wherein at least one of the set of controllers is associated with thetower.
 42. The apparatus of claim 40, wherein the tower is one of anoperator tower and a robotics tower.
 43. The apparatus of claim 35,wherein the platform laser targets are associated with at least one of abase, a robotic base, a robotic device, or a supporting structure of themobile platform.
 44. The apparatus of claim 35 further comprising: avision system.
 45. The apparatus of claim 44, wherein the vision systemcomprises: an imaging system associated with at least one of a roboticdevice associated with the mobile platform or the end effectorassociated with the mobile platform.
 46. The apparatus of claim 45,wherein the imaging system has a field of view configured to capture areference point on the fuselage assembly when the end effector ispositioned relative to an expected reference location on the fuselageassembly for the reference point.